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WO2025090865A1 - Systèmes et procédés de production de réponses haptiques perçues plus fortes - Google Patents

Systèmes et procédés de production de réponses haptiques perçues plus fortes Download PDF

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Publication number
WO2025090865A1
WO2025090865A1 PCT/US2024/052958 US2024052958W WO2025090865A1 WO 2025090865 A1 WO2025090865 A1 WO 2025090865A1 US 2024052958 W US2024052958 W US 2024052958W WO 2025090865 A1 WO2025090865 A1 WO 2025090865A1
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WO
WIPO (PCT)
Prior art keywords
user
actuator
wearable
examples
haptic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2024/052958
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English (en)
Inventor
Dongsuk Shin
Daniele Piazza
Tianshu Liu
Erik Samuel Roby
Maseo BROWNING
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meta Platforms Technologies LLC
Original Assignee
Meta Platforms Technologies LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US18/915,280 external-priority patent/US20250138641A1/en
Application filed by Meta Platforms Technologies LLC filed Critical Meta Platforms Technologies LLC
Publication of WO2025090865A1 publication Critical patent/WO2025090865A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves

Definitions

  • a device configured to provide haptic feedback comprising: at least two actuators, at distinct spatial locations, coupled to a wearable structure configured to be worn on a portion of a user’s body; and wherein the device is configured to: in response to receiving an indication from a communicatively coupled device: simultaneously actuate the at least two actuators using a predetermined haptic signal, such that respective haptic responses generated by the at least two actuators are superimposed to generate a combined haptic response having a magnitude greater than the respective haptic responses generated by the at least two actuators.
  • the predetermined haptic signal may be a first predetermined haptic signal.
  • An actuator of the at least two actuators may include a contact surface coupled to the portion of the user’s body.
  • the device may be further configured to: receive an impedance measurement between the contact surface and the user’s skin at the portion of the user’s body; and actuate, based off the impedance measurement, the actuator of the at least two actuators using a second predetermined haptic signal.
  • the device may be further configured to, before actuating the actuator of the at least two actuators, adjust a stiffness of the actuator of the at least two actuators based on the impedance measurement.
  • the stiffness of the actuator may be selected such that an impedance measured at the portion of the user’s body satisfies a measured impedance threshold.
  • the impedance measurement may include tuning a stiffness of the user’s skin at the portion of the user’s body.
  • the impedance measurement may include tuning a stiffness of at least one of the at least two actuators by amplifying an actuator displacement.
  • the contact surface may be an electromyography (EMG) electrode.
  • EMG electromyography
  • At least one of the at least two actuators may be configured to be a pressure sensor.
  • a non-transitory computer readable storage medium including instructions that, when executed by a wearable device, cause the wearable device to: in response to receiving an indication from a communicatively coupled device: simultaneously actuate at least two actuators using a predetermined haptic signal, such that respective haptic responses generated by the at least two actuators are superimposed to generate a combined haptic response having a magnitude greater than the respective haptic responses generated by the at least two actuators, wherein the at least two actuators are at distinct spatial locations and coupled to a wearable structure configured to be worn on a portion of a user’s body.
  • the predetermined haptic signal may be a first predetermined haptic signal.
  • An actuator of the at least two actuators may include a contact surface coupled to the portion of the user’s body.
  • the instructions may, when executed by the wearable device, further cause the wearable device to: receive an impedance measurement between the contact surface and the user’s skin at the portion of the user’s body; and actuate, based off the impedance measurement, the actuator of the at least two actuators using a second predetermined haptic signal.
  • the instructions may, when executed by the wearable device, further cause the wearable device to, before actuating the actuator of the at least two actuators, adjust a stiffness of the actuator of the at least two actuators based on the impedance measurement.
  • the stiffness of the actuator may be selected such that an impedance measured at the portion of the user’s body satisfies a measured impedance threshold.
  • the impedance measurement may include tuning a stiffness of the user’s skin at the portion of the user’s body.
  • the impedance measurement may include tuning a stiffness of at least one of the at least two actuators by amplifying an actuator displacement.
  • the contact surface may be an electromyography (EMG) electrode.
  • EMG electromyography
  • At least one of the at least two actuators may be configured to be a pressure sensor.
  • an actuator assembly comprising: an actuator configured to generate a haptic feedback; a circuit configured to drive the actuator with from a low-voltage power supply; and a contact surface configured to apply the haptic feedback to a user’s skin, wherein: the actuator is mechanically coupled to the circuit and the contact surface.
  • the actuator assembly may further comprise bellows.
  • the bellows may be coupled to the circuit and the contact surface.
  • the bellows may be configured to prevent ingress of foreign matter into the actuator assembly.
  • the actuator assembly may further comprise a durometer.
  • the durometer may be coupled to the circuit and the contact surface.
  • the actuator assembly may further comprise a spring.
  • the spring may be coupled to the circuit.
  • the spring may comprise at least a portion of the contact surface.
  • the actuator assembly may be configured to operate with a supply voltage of no greater than 5.5 Volts.
  • the actuator assembly may be configured to be no greater than 1000 cubic millimeters (1 milliliters) in size.
  • the circuit may drive the actuator with a signal of at least 30 Volts and at least 50 Hertz.
  • Figure 1A illustrates an example of a wrist-wearable device with one or more actuator assemblies providing haptic feedback to a user.
  • Figures 2A-2C illustrates different actuators and skin couplers which are configured to increase the mechanical impedance of the skin by increasing the actuator-skin contact area.
  • Figures 5A-5B illustrate an example wrist-wearable device 500.
  • Figures 6A-6C illustrate example head-wearable devices.
  • Figures 7A-7B illustrate an example handheld intermediary processing device.
  • Figures 8A-8C illustrate an example smart textile-based garment.
  • Figure 9 shows an example method flow chart for a device for providing haptic feedback.
  • Embodiments of this disclosure can include or be implemented in conjunction with various types or embodiments of artificial-reality systems.
  • Artificial-reality as described herein, is any superimposed functionality and or sensory-detectable presentation provided by an artificial-reality system within a user’s physical surroundings.
  • Such artificial-realities can include and/or represent virtual reality (VR), augmented reality, mixed artificial-reality (MAR), or some combination and/or variation one of these.
  • VR virtual reality
  • MAR mixed artificial-reality
  • a user can perform a swiping in-air hand gesture to cause a song to be skipped by a song-providing API providing playback at, for example, a home speaker.
  • An AR environment includes, but is not limited to, VR environments (including non-immersive, semi- immersive, and fully immersive VR environments); augmented-reality environments (including marker-based augmented-reality environments, markerless augmented-reality environments, location-based augmented-reality environments, and projection-based augmented-reality environments); hybrid reality; and other types of mixed-reality environments.
  • VR environments including non-immersive, semi- immersive, and fully immersive VR environments
  • augmented-reality environments including marker-based augmented-reality environments, markerless augmented-reality environments, location-based augmented-reality environments, and projection-based augmented-reality environments
  • hybrid reality and other types of mixed-reality environments.
  • Artificial-reality content can include completely generated content or generated content combined with captured (e.g., real-world) content.
  • the artificial-reality content can include video, audio, haptic events, or some combination thereof, any of which can be presented in a single channel or in multiple channels (such as stereo video that produces a three-dimensional effect to a viewer).
  • artificial reality can also be associated with applications, products, accessories, services, or some combination thereof, which are used, for example, to create content in an artificial reality and/or are otherwise used in (e.g, to perform activities in) an artificial reality.
  • Figure 1A illustrates an example of a wrist-wearable device 110 with one or more actuator assemblies (e.g., actuator assemblies 120a-120c, 120h, and 120i) providing haptic feedback to a user.
  • the one or more actuator assemblies are configured to provide haptic feedback to a user (e.g., a buzz sensation, push sensation, shear sensation, etc.). Additional details regarding the wrist-wearable device 110 and the one or more actuator assemblies are provided with reference to Figure 1 B.
  • Figure 1 B illustrates an example of one or more actuator assemblies 120a-120h providing haptic feedback to a user 115.
  • the one or more actuator assemblies 120a-120h are integrated into and/or coupled to a wearable device (e.g., a wrist-wearable device 110, a head-wearable device 112, a handheld intermediary processing device, a wearable glove, and/or any other device that is configured to be worn on the body of a user or held by the user).
  • a wearable device e.g., a wrist-wearable device 110, a head-wearable device 112, a handheld intermediary processing device, a wearable glove, and/or any other device that is configured to be worn on the body of a user or held by the user.
  • Figure 1 B is one example which illustrates a wrist-wearable device 110 including one or more actuator assemblies 120a-120h and/or pairs of actuator assemblies 122 that are configured to provide haptic feedback to the user 115 (e.g., a buzz sensation, push sensation, shear sensation, etc.).
  • two or more actuator assemblies at different locations e.g., actuator assembly 120a and actuator assembly 120g
  • the same control signal e.g., using a first/second predetermined haptic signal
  • the control signal used to actuate the actuator assemblies includes a square wave, sine wave, triangle wave, sawtooth wave, and/or a combination thereof.
  • control signal is selected from a library of haptic signals and formed using a haptic model (e.g., a model configured to generate a particular haptic waveforms).
  • actuating two or more actuators causes a user 115 to perceive the haptic feedback from each actuator assemblies as a single but stronger haptic feedback (e.g., the individual haptic feedbacks are generated by the two or more actuator assemblies and superimpose the haptic feedback).
  • the two or more actuators cause the generation of a single haptic feedback with a magnitude greater than individual magnitudes of respective haptic feedbacks generated by each of the two or more actuators, individually.
  • the actuator assemblies 120a-120h also match an impedance (e.g., a mechanical impedance) between each actuator assembly and a user’s skin to more efficiently transfer the haptic feedback to the user 115.
  • an impedance e.g., a mechanical impedance
  • at least two actuators when actuated with the same control signal, operate to generate haptic feedback that simulates a single response (e.g., instead of multiple smaller haptic responses).
  • the actuator assemblies can match the impedance by tuning the mechanical impedance (e.g., stiffness) of the user’s skin via a contact area (further discussed in reference to Figure 2A) and/or by tuning a mechanical impedance of the actuator by amplifying an actuator displacement while reducing an actuator blocking force (discussed in reference to Figure 2B). Matching the mechanical impedance between the user’s skin and the actuator assemblies maximizes the energy transferred from the actuator assemblies 120a-120h to the user’s skin resulting in a stronger perceived haptic feedback.
  • the mechanical impedance e.g., stiffness
  • Figure 1 B further illustrates a user 115 inside of a museum wearing a head-wearable device 112 and a wrist-wearable device 110.
  • Figure 1 B illustrates the user 115 receiving a first indication 104 (e.g., a message, as illustrated in Figure 1B, a call, an email, etc.) at the display 102 of the wrist-wearable device 110.
  • a first indication 104 e.g., a message, as illustrated in Figure 1B, a call, an email, etc.
  • two or more actuator assemblies 120a-120h are simultaneously actuated to provide the user 115 with the haptic feedback indicating to the user 115 they have a new text message.
  • Figure 1 B shows two actuator assemblies 120b-120c actuating simultaneously to provide the user 115 with the stronger perceived haptic feedback.
  • the two or more actuator assemblies actuated do not need to be part of a pair of adjacent actuator assemblies 122 but, rather, may be located at different locations on the wristwearable device 110.
  • actuator assembly 120f and actuator assembly 120g are not an adjacent pair but can actuate simultaneously to provide the stronger perceived haptic feedback to a user 115.
  • the two or more actuator assemblies can actuate to produce the stronger perceived haptic feedback.
  • actuator assemblies 120e-120h can actuate simultaneously to provide the stronger perceived haptic feedback to the user 115. More specifically, the actuator assemblies 120a-120h allow for multiple, smaller, actuator assemblies to be actuated together to generate a stronger individual haptic feedback (e.g., instead of multiple individual haptic feedbacks).
  • Figures 2A-2B illustrate different actuator assemblies.
  • Figures 2A-2B show two distinct actuator assembly examples of the actuator assemblies 120a-120h illustrated in Figure 1B.
  • Figure 2A illustrates a first actuator assembly 200 for tuning the mechanical impedance of the user’s skin that includes a first contact surface 202 mechanically coupled to a first actuator 204.
  • the contact surface 202 e.g., a portion of the first actuator assembly 200 that is in direct contact with the user 115
  • the first contact surface 202 is an electromyography (EMG) electrode or other biopotential-signal-sensing component.
  • EMG electromyography
  • the first actuator assembly 204 is configured to operate as a pressure sensor for the first contact surface 202.
  • the first actuator assembly 200 is configured to match the mechanical impedance of the user’s skin by tuning the mechanical impedance of the skin via the first contact surface 202.
  • the energy transferred from the first actuator assembly 200 to the user’s skin can be maximized (e.g., adjusting until a maximum impedance is reached or until a predetermined threshold is satisfied).
  • the first contact surface 202 is configured to increase a surface area that the user’s skin is in contact with the first actuator assembly 200.
  • An increase in the surface area that the user’s skin is in contact with the first actuator assembly 200 increases the mechanical impedance of the user’s skin to better match the mechanical impedance of the first actuator 204.
  • the mechanical impedance of the user’s skin is matched to the mechanical impedance of the first actuator 204, there is less loss in energy transfer from the first actuator 204 to the user’s skin, which causes the stronger perceivable haptic feedback felt by the user 115.
  • FIG. 2B illustrates a second actuator assembly 250 for tuning the mechanical impedance of a second actuator 256 that includes the second actuator 256, a bubble membrane 254, a haptic fluid 252, a sealing membrane 258, and rigid plates 260.
  • the rigid plates 260, sealing membrane 258, and bubble membrane 254 are mechanically coupled to create a haptic fluid chamber which is configured to keep the haptic fluid 252 enclosed inside of the haptic fluid chamber.
  • the second actuator assembly 250 is configured such that, when it is actuated, the second actuator 256 displaces the sealing membrane 258 causing the displacement of the haptic fluid 252 from the haptic fluid chamber and into the bubble membrane 254.
  • the displacement of the haptic fluid 252 into the bubble membrane 254 creates the haptic feedback.
  • the haptic fluid chamber is configured such that a actuator 256 displacement is transferred to the user 115 via the bubble membrane 254 (e.g., a small bubble in contact with the user’s skin) such that a bubble membrane 254 displacement is greater than the actuator 256 displacement while the force output is lower. This causes the mechanical impedance of the actuator assembly 250 to decrease and better match the impedance of the user’s skin.
  • the actuator 256 is packaged with one or more electronics and one or more skin couplers into a single module.
  • the package is configured such that high voltage is not transmitted to the user.
  • the package is configured such that the skin coupler cannot be decoupled from the actuator 256 and/or the one or more electronics by the user.
  • the package includes a molding shutoff surface that is overmolded into a wristband of the wrist-wearable device 110.
  • FIG. 2C illustrates an actuator assembly 270 configured using a plate-joint structure.
  • the actuator assembly 270 includes a central plate 272 (e.g., a ceramic plate) and a first stiff material 274 (e.g., one or more steel plates) and a second stiff material 276 (e.g., one or more steel plates).
  • the first stiff material 274 and the second stiff material 276 can be constructed from the same or different materials.
  • the first stiff material 274 and second stiff material 276, respectively, are unitary or segmented.
  • a segmented version of the first stiff material 274 includes a first set of a plurality of steel plates and a segmented version of the second stiff material 276 includes a second set of a plurality of steel plates.
  • the first set of the plurality of steel plates are coupled via flexible joints 278, and the second set of the plurality of steel plates are coupled via flexible joints 280.
  • the flexible joints may be a thinner version of the same stiff material or one or more flexible structures (e.g., tape).
  • the flexible joints are coupled to each other and/or the flexible joints are unitary (e.g., a single strip of adhesive).
  • first stiff material 274 and/or the second stiff material 276 are coupled to the central plate via some or all of the one or more flexible joints.
  • the mechanical impedance for an actuator with amplifying bow structures can be tuned by tuning the geometry of the bow structures. For example by reducing the height of the bow structure, or by reducing the width of the bow structure, the actuator can output higher displacement but lower force so its mechanical impedance can be effectively lowered.
  • the height of the bow structure is zero and the buckling of the bow structure is configured to further increase displacement.
  • the actuator is configured using a combination of a plate structure and a bow structure.
  • Figures 3A-3I illustrate additional actuator assemblies for tuning the mechanical impedance of the user’s skin.
  • the example actuator assemblies are instances of the two or more actuator assemblies 120a-120h and/or the first actuator assembly 200 described in reference to Figures 1-2A.
  • the example actuator assemblies provide haptic feedback in a wearable device (e.g., the wrist-worn device 110), and, In some examples, are integrated into a wristband of the wrist-wearable device 110 (e.g., as illustrated in Figure 1 B).
  • Figure 3A illustrates a third actuator assembly 300, including a third contact surface 302, a third actuator 304, and a circuit 308 (e.g., a printed circuit board (PCB)).
  • PCB printed circuit board
  • Figure 3B illustrates a fourth actuator assembly 350, including a fourth contact surface 352, a fourth actuator 354, and another circuit 358 (e.g., another PCB).
  • the fourth contact surface 352 is coupled (e.g., by overmolding) to a spring 356.
  • a portion of the spring 356 is configured to contact the user’s skin while the wrist-wearable device 110 is worn and, thereby, is at least a portion of the fourth contact surface 352, as illustrated in Figure 3B.
  • the spring 356 is a support structure of the fourth actuator assembly 356.
  • Figure 3C illustrates a second perspective of the third actuator assembly 300 including the third contact surface 302, the third actuator 304, and the third circuit 308.
  • Figure 3D illustrates a second perspective of the fourth actuator assembly 350 including the fourth contact surface 352, the fourth actuator 354, the spring 356, and the fourth circuit 358.
  • the third actuator assembly 300 and/or the fourth actuator assembly 350 further include a durometer 399 coupled to the third circuit 308 and/or the fourth circuit 358, respectively (e.g, as illustrated in Figures 3C-3D).
  • the durometer 399 is further coupled to the third contact surface 302 and/or the fourth contact surface 352 and/or the spring 356, respectively.
  • Figure 3E illustrates a third perspective of the third actuator assembly 300 including the third contact surface 302 and bellows 310.
  • Figure 3F illustrates a third perspective of the fourth actuator assembly 350 including the fourth contact surface 352, the spring 356, and additional bellows 360.
  • the bellows 310 and the additional bellows 360 are configured to maintain the structural integrity of the respective actuator assemblies and prevent ingress of foreign matter into the respective actuator assemblies.
  • the bellows 310 and the additional bellows 360 are thermally bonded and/or bonded by a solvent to the respective contact surface and the respective circuit.
  • Figure 3G illustrates a cross-section of the third actuator assembly 300 including the third contact surface 302, the third actuator 304, the third circuit 308, the bellows 310, and the durometer 399.
  • Figure 3H illustrates a cross-section of the fourth actuator assembly 350 including the fourth contact surface 352, the fourth actuator 354, the spring 356, the fourth circuit 358, the additional bellows 360, and the durometer 399.
  • the third actuator assembly 300 and/or the fourth actuator assembly 350 are configured with an instantaneous maximum input power of 4W.
  • the third circuit 308 and/or the fourth circuit 358 is configured to send a control signal to actuate the third actuator 304 and the fourth actuator 354, respectively.
  • the control signal has a predetermined voltage (e.g., at least 30 V) and a predetermined frequency (e.g., at least 20 Hz). In some examples, the control signal has a predetermined voltage up to 95V.
  • the third actuator assembly 300 and/or the fourth actuator assembly 350 are configured to produce a sound no greater than 60 dBA (at a distance of 10 cm from the respective actuator assembly) when the respective actuator assembly is actuated.
  • the third actuator assembly 300 and/or the fourth actuator assembly 350 are configured to have predetermined dimensions (e.g., maximum dimensions of 20 mm X 10 mm X 5 mm) such that they can be integrated into the wrist-band of the wrist-wearable device 110.
  • the third contact surface 302 and/or the fourth contact surface 352 are configured to have a predetermined surface area (e.g., maximum surface area of 20 mm X 10 mm) such that they can be integrated into the wristband of the wrist-wearable device 110.
  • Figure 3I illustrate an example circuit 398 and an example actuator 394 combination for the third actuator assembly 300 and the fourth actuator assembly 350 described in reference to Figures 3A-3H.
  • the example circuit 398 is mechanically and electronically coupled to the example actuator 394.
  • the example circuit 398 and the example actuator 394 combination is mechanically coupled to the third contact surface 302 and/or the fourth contact surface 352 and the spring 356.
  • the example circuit 398 and the example actuator 394 combination further includes the flexible connector 399 coupled to the example circuit 398.
  • the flexible connector 399 is further coupled to the third contact surface 302 and/or the fourth contact surface 352 and/or the spring 356.
  • Operations (e.g., steps) of examples A1-G1 can be performed by one or more processors (e.g., central processing unit and/or MCU) at a wearable device (e.g., headwearable device, wrist-wearable device, wearable glove, etc.).
  • processors e.g., central processing unit and/or MCU
  • a wearable device e.g., headwearable device, wrist-wearable device, wearable glove, etc.
  • At least some of the operations shown in Figures 1-3E correspond to instructions stored in a computer memory or computer-readable storage medium (e.g., storage, RAM, and/or memory) at a wearable device.
  • Operations of the examples A1-G1 can be performed by a single device alone or in conjunction with one or more processors and/or hardware components of another communicatively coupled device (e.g., head-wearable device, wrist-wearable device, wearable glove, etc.) and/or instructions stored in memory or computer-readable medium of the other device communicatively coupled to the system.
  • another communicatively coupled device e.g., head-wearable device, wrist-wearable device, wearable glove, etc.
  • the various operations of the methods described herein are interchangeable and/or optional, and respective operations of the methods are performed by any of the aforementioned devices, systems, or combination of devices and/or systems.
  • the method operations will be described below as being performed by particular component or device, but should not be construed as limiting the performance of the operation to the particular device in all examples.
  • a device for providing haptic feedback includes at least two actuators, at distinct spatial locations, coupled to a wearable structure (e.g., the band of a smart-watch, the capsule display of a smart-watch, the band of a wrist-wearable device, a head-wearable device, a wearable glove, etc.) configured to be worn on a portion of a user’s body (e.g., head, wrist, hand, etc.).
  • a wearable structure e.g., the band of a smart-watch, the capsule display of a smart-watch, the band of a wrist-wearable device, a head-wearable device, a wearable glove, etc.
  • the device is configured to, in response to receiving an indication (e.g., notification, textmessage, etc.) from a communicatively coupled device, simultaneously actuate the at least two actuators using a predetermined haptic signal (e.g., a waveform), such that respective haptic responses generated by the at least two actuators are superimposed (e.g., when sensed by a user) to generate a combined haptic response having a magnitude greater than the respective haptic responses generated by the at least two actuators.
  • a predetermined haptic signal e.g., a waveform
  • the predetermined haptic signal is a first predetermined haptic signal and an actuator of the at least two actuators include a contact surface (e.g., EMG electrode, bio-potential sensor, etc.) coupled to the portion of the user’s body (e.g., wrist, hand, head, etc.).
  • the device is further configured to receive an impedance measurement (e.g., mechanical impedance) between the contact surface and the user’s skin at the portion of the user’s body, actuate, based off the impedance measurement, the actuator of the at least two actuators using a second predetermined haptic signal.
  • an impedance measurement e.g., mechanical impedance
  • the device is further configured to before actuating the actuator of the at least two actuators, adjust a stiffness of the actuator of the at least two actuators based on the impedance measurement, wherein the stiffness of the actuator is selected such that an impedance measured at the portion of the user’s body satisfies a measured impedance threshold.
  • the stiffness of the actuator is adjusted to match the mechanical impedance of the skin to provide a stronger perceivable haptic feedback response to the user.
  • the impedance measurement includes tuning a stiffness of the user’s skin at the portion of the user’s body.
  • tuning a stiffness of the user’s skin includes providing a contact surface 202 coupled to the user’s skin which increases the impedance of the skin allowing it to match more closely with the impedance of the actuator 204.
  • the impedance measurement includes tuning a stiffness of at least one of the at least two actuators by amplifying an actuator displacement.
  • the displacement of the actuator 306 may be greater than the displacement of the bubble membrane 304, however this allows the impedance of the actuator assembly 300 to lower and be a closer match with that of the impedance of the skin.
  • the contact surface is an electromyography (EMG) electrode.
  • EMG electromyography
  • At least one of the at least two actuators is configured to be a pressure sensor.
  • a non-transitory computer readable storage medium including instructions is disclosed.
  • the executable instructions When executed by a wearable device, they cause the wearable device to, in response to receiving an indication from a communicatively coupled device, simultaneously actuate at least two actuators using a first predetermined haptic signal, such that respective haptic responses generated by the at least two actuators are superimposed (e.g., when sensed by a user) to generate a combined haptic response having a magnitude greater than the respective haptic responses generated by the at least two actuators.
  • the at least two actuators are at distinct spatial locations and coupled to a wearable structure configured to be worn on a portion of a user’s body.
  • (C1) A system that includes one or more wrist-wearable devices and an artificialreality headset, and the wrist-wearable device is configured to perform operations corresponding to any of the examples A1 -B1 .
  • an actuator assembly includes an actuator, a circuit, and a contact surface.
  • the actuator is configured to generate a haptic feedback.
  • the circuit is configured to drive the actuator from a low-voltage power supply (e.g., less than 9 V).
  • the contact surface is configured to apply the haptic feedback to a user’s skin.
  • the actuator is mechanically coupled to the circuit and the contact surface.
  • the actuator assembly further includes a bellows, coupled to the circuit and the contact surface, configured to prevent ingress of foreign matter into the actuator assembly.
  • the actuator assembly further includes a durometer, wherein the durometer is coupled to the circuit and the contact surface.
  • the actuator assembly further includes a spring.
  • the spring is coupled to the circuit, and the spring comprises at least at least a portion of the contact surface.
  • the actuator assembly is configured to operate with a supply voltage of no greater than 5.5 Volts.
  • the actuator assembly is configured to be no greater than 1000 cubic millimeters (1 milliliters) in size (e.g., 20 mm X 10 mm X 5 mm).
  • the circuit drives the actuator with a signal of at least 30 Volts and at least 50 Hertz.
  • the actuator assembly is configured to operate in accordance with any of A1-A6 and B1.
  • a wrist-wearable device including at least one actuator assembly corresponding to any of the examples D1-D8.
  • the devices described above are further detailed below, including systems, wristwearable devices, headset devices, and smart textile-based garments. Specific operations described above may occur as a result of specific hardware, such hardware is described in further detail below.
  • the devices described below are not limiting and features on these devices can be removed or additional features can be added to these devices.
  • the different devices can include one or more analogous hardware components. For brevity, analogous devices and components are described below. Any differences in the devices and components are described below in their respective sections.
  • a processor e.g., a central processing unit (CPU) or microcontroller unit (MCU)
  • CPU central processing unit
  • MCU microcontroller unit
  • an electronic device e.g., a wrist-wearable device 500, a head-wearable device, an HIPD 700, a smart textile-based garment 800, or other computer system.
  • processors e.g., a central processing unit (CPU) or microcontroller unit (MCU)
  • CPU central processing unit
  • MCU microcontroller unit
  • a processor may be (i) a general processor designed to perform a wide range of tasks, such as running software applications, managing operating systems, and performing arithmetic and logical operations; (ii) a microcontroller designed for specific tasks such as controlling electronic devices, sensors, and motors; (iii) a graphics processing unit (GPU) designed to accelerate the creation and rendering of images, videos, and animations (e.g., virtu a I- reality animations, such as three-dimensional modeling); (iv) a field-programmable gate array (FPGA) that can be programmed and reconfigured after manufacturing and/or customized to perform specific tasks, such as signal processing, cryptography, and machine learning; (v) a digital signal processor (DSP) designed to perform mathematical operations on signals such as audio, video, and radio waves.
  • a general processor designed to perform a wide range of tasks, such as running software applications, managing operating systems, and performing arithmetic and logical operations
  • a microcontroller designed for specific tasks such as controlling electronic devices, sensors
  • controllers are electronic components that manage and coordinate the operation of other components within an electronic device (e.g., controlling inputs, processing data, and/or generating outputs).
  • controllers can include (i) microcontrollers, including small, low-power controllers that are commonly used in embedded systems and Internet of Things (loT) devices; (ii) programmable logic controllers (PLCs) that may be configured to be used in industrial automation systems to control and monitor manufacturing processes; (iii) system-on-a-chip (SoC) controllers that integrate multiple components such as processors, memory, I/O interfaces, and other peripherals into a single chip; and/or DSPs.
  • a graphics module is a component or software module that is designed to handle graphical operations and/or processes, and can include a hardware module and/or a software module.
  • memory refers to electronic components in a computer or electronic device that store data and instructions for the processor to access and manipulate.
  • the devices described herein can include volatile and non-volatile memory.
  • Examples of memory can include (i) random access memory (RAM), such as DRAM, SRAM, DDR RAM or other random access solid state memory devices, configured to store data and instructions temporarily; (ii) read-only memory (ROM) configured to store data and instructions permanently (e.g., one or more portions of system firmware and/or boot loaders); (iii) flash memory, magnetic disk storage devices, optical disk storage devices, other non-volatile solid state storage devices, which can be configured to store data in electronic devices (e.g., universal serial bus (USB) drives, memory cards, and/or solid-state drives (SSDs)); and (iv) cache memory configured to temporarily store frequently accessed data and instructions.
  • RAM random access memory
  • ROM read-only memory
  • flash memory magnetic disk storage devices
  • optical disk storage devices other non-volatile solid state storage devices, which
  • Memory can include structured data (e.g., SQL databases, MongoDB databases, GraphQL data, or JSON data).
  • Other examples of memory can include: (i) profile data, including user account data, user settings, and/or other user data stored by the user; (ii) sensor data detected and/or otherwise obtained by one or more sensors; (iii) media content data including stored image data, audio data, documents, and the like; (iv) application data, which can include data collected and/or otherwise obtained and stored during use of an application; and/or any other types of data described herein.
  • a power system of an electronic device is configured to convert incoming electrical power into a form that can be used to operate the device.
  • a power system can include various components, including (i) a power source, which can be an alternating current (AC) adapter or a direct current (DC) adapter power supply; (ii) a charger input that can be configured to use a wired and/or wireless connection (which may be part of a peripheral interface, such as a USB, micro-USB interface, near-field magnetic coupling, magnetic inductive and magnetic resonance charging, and/or radio frequency (RF) charging); (iii) a power-management integrated circuit, configured to distribute power to various components of the device and ensure that the device operates within safe limits (e.g., regulating voltage, controlling current flow, and/or managing heat dissipation); and/or (iv) a battery configured to store power to provide usable power to components of one or more electronic devices.
  • a power source which can be an alternating current (AC) adapter or a direct current (DC) adapter power supply
  • a charger input that can be configured to use a wired and/or wireless connection (which may be part
  • peripheral interfaces are electronic components (e.g., of electronic devices) that allow electronic devices to communicate with other devices or peripherals and can provide a means for input and output of data and signals.
  • peripheral interfaces can include (i) USB and/or micro-USB interfaces configured for connecting devices to an electronic device; (ii) Bluetooth interfaces configured to allow devices to communicate with each other, including Bluetooth low energy (BLE); (iii) near- field communication (NFC) interfaces configured to be short-range wireless interfaces for operations such as access control; (iv) POGO pins, which may be small, spring-loaded pins configured to provide a charging interface; (v) wireless charging interfaces; (vi) global- position system (GPS) interfaces; (vii) Wi-Fi interfaces for providing a connection between a device and a wireless network; and (viii) sensor interfaces.
  • BLE Bluetooth low energy
  • NFC near- field communication
  • POGO pins which may be small, spring-loaded pins configured to provide a charging interface
  • wireless charging interfaces
  • sensors are electronic components (e.g., in and/or otherwise in electronic communication with electronic devices, such as wearable devices) configured to detect physical and environmental changes and generate electrical signals.
  • sensors can include (i) imaging sensors for collecting imaging data (e.g., including one or more cameras disposed on a respective electronic device); (ii) biopotential-signal sensors; (iii) inertial measurement unit (e.g., IMUs) for detecting, for example, angular rate, force, magnetic field, and/or changes in acceleration; (iv) heart rate sensors for measuring a user’s heart rate; (v) SpO2 sensors for measuring blood oxygen saturation and/or other biometric data of a user; (vi) capacitive sensors for detecting changes in potential at a portion of a user’s body (e.g., a sensor-skin interface) and/or the proximity of other devices or objects; and (vii) light sensors (e.g., ToF sensors, infrared light sensors, or visible light
  • biopotential-signal-sensing components are devices used to measure electrical activity within the body (e.g., biopotential-signal sensors).
  • biopotential-signal sensors include: (i) electroencephalography (EEG) sensors configured to measure electrical activity in the brain to diagnose neurological disorders; (ii) electrocardiography (ECG or EKG) sensors configured to measure electrical activity of the heart to diagnose heart problems; (iii) electromyography (EMG) sensors configured to measure the electrical activity of muscles and diagnose neuromuscular disorders; (iv) electrooculography (EOG) sensors configured to measure the electrical activity of eye muscles to detect eye movement and diagnose eye disorders.
  • EEG electroencephalography
  • ECG or EKG electrocardiography
  • EMG electromyography
  • EEG electromyography
  • EOG electrooculography
  • an application stored in memory of an electronic device includes instructions stored in the memory.
  • applications include (i) games; (ii) word processors; (iii) messaging applications; (iv) media-streaming applications; (v) financial applications; (vi) calendars; (vii) clocks; (viii) web browsers; (ix) social media applications, (x) camera applications, (xi) web-based applications; (xii) health applications; (xiii) artificial-reality (AR) applications, and/or any other applications that can be stored in memory.
  • the applications can operate in conjunction with data and/or one or more components of a device or communicatively coupled devices to perform one or more operations and/or functions.
  • communication interface modules can include hardware and/or software capable of data communications using any of a variety of custom or standard wireless protocols (e.g., IEEE 802.15.4, Wi-Fi, ZigBee, 6L0WPAN, Thread, Z-Wave, Bluetooth Smart, ISA100.11a, WirelessHART, or MiWi), custom or standard wired protocols (e.g., Ethernet or HomePlug), and/or any other suitable communication protocol, including communication protocols not yet developed as of the filing date of this document.
  • a communication interface is a mechanism that enables different systems or devices to exchange information and data with each other, including hardware, software, or a combination of both hardware and software.
  • a communication interface can refer to a physical connector and/or port on a device that enables communication with other devices (e.g., USB, Ethernet, HDMI, or Bluetooth).
  • a communication interface can refer to a software layer that enables different software programs to communicate with each other (e.g., application programming interfaces (APIs) and protocols such as HTTP and TCP/IP).
  • APIs application programming interfaces
  • a graphics module is a component or software module that is designed to handle graphical operations and/or processes, and can include a hardware module and/or a software module.
  • non-transitory computer-readable storage media are physical devices or storage medium that can be used to store electronic data in a non-transitory form (e.g., such that the data is stored permanently until it is intentionally deleted or modified).
  • Figures 4A, 4B, 4C-1 , 4C-2, 4D-1 , and 4D-2 illustrate example AR systems.
  • Figure 4A shows a first AR system 400a and first example user interactions using a wrist-wearable device 500, a head-wearable device (e.g., AR device 600), and/or a handheld intermediary processing device (HIPD) 700.
  • a handheld intermediary processing device e.g., HIPD
  • Figure 4B shows a second AR system 400b and second example user interactions using a wrist-wearable device 500, AR device 600, and/or an HIPD 700.
  • Figures 4C-1 and 4C-2 show a third AR system 400c and third example user interactions using a wrist-wearable device 500, a head-wearable device (e.g., virtual-reality (VR) device 610), and/or an HIPD 700.
  • Figures 4D-1 and 4D-2 show a fourth AR system 400d and fourth example user interactions using a wrist-wearable device 500, VR device 610, and/or a smart textile-based garment 800 (e.g., wearable gloves, haptic gloves).
  • the aboveexample AR systems can perform various functions and/or operations described above with reference to Figures 1-3.
  • the wrist-wearable device 500 and its constituent components are described below in reference to Figures 5A-5B, the head-wearable devices and their constituent components are described below in reference to Figures 6A-6D, and the HIPD 700 and its constituent components are described below in reference to Figures 7A-7B.
  • the smart textile-based garment 800 and its one or more components are described below in reference to Figures 8A-8C.
  • the wrist-wearable device 500, the head-wearable devices, and/or the HIPD 700 can communicatively couple via a network 425 (e.g., cellular, near field, Wi-Fi, personal area network, or wireless LAN).
  • a network 425 e.g., cellular, near field, Wi-Fi, personal area network, or wireless LAN.
  • the wrist-wearable device 500, the head-wearable devices, and/or the HIPD 700 can also communicatively couple with one or more servers 430, computers 440 (e.g., laptops or computers), mobile devices 450 (e.g., smartphones or tablets), and/or other electronic devices via the network 425 (e.g., cellular, near field, Wi-Fi, personal area network, or wireless LAN).
  • the smart textile-based garment 800 when used, can also communicatively couple with the wrist-wearable device 500, the headwearable devices, the HIPD 700, the one or more servers 430, the computers 440, the mobile devices 450, and/or other electronic devices via the network 425.
  • a user 402 is shown wearing the wrist-wearable device 500 and the AR device 600, and having the HIPD 700 on their desk.
  • the wrist-wearable device 500, the AR device 600, and the HIPD 700 facilitate user interaction with an AR environment.
  • the wrist-wearable device 500, the AR device 600, and/or the HIPD 700 cause presentation of one or more avatars 404, digital representations of contacts 406, and virtual objects 408.
  • the user 402 can interact with the one or more avatars 404, digital representations of the contacts 406, and virtual objects 408 via the wrist-wearable device 500, the AR device 600, and/or the HIPD 700.
  • the user 402 can use any of the wrist-wearable device 500, the AR device 600, and/or the HIPD 700 to provide user inputs.
  • the user 402 can perform one or more hand gestures that are detected by the wrist-wearable device 500 (e.g., using one or more EMG sensors and/or IMUs, described below in reference to Figures 5A-5B) and/or AR device 600 (e.g., using one or more image sensors or cameras, described below in reference to Figures 6A-6B) to provide a user input.
  • the wrist-wearable device 500 e.g., using one or more EMG sensors and/or IMUs, described below in reference to Figures 5A-5B
  • AR device 600 e.g., using one or more image sensors or cameras, described below in reference to Figures 6A-6B
  • the user 402 can provide a user input via one or more touch surfaces of the wrist-wearable device 500, the AR device 600, and/or the HIPD 700, and/or voice commands captured by a microphone of the wrist-wearable device 500, the AR device 600, and/or the HIPD 700.
  • the wrist-wearable device 500, the AR device 600, and/or the HIPD 700 include a digital assistant to help the user in providing a user input (e.g., completing a sequence of operations, suggesting different operations or commands, providing reminders, or confirming a command).
  • the user 402 can provide a user input via one or more facial gestures and/or facial expressions.
  • cameras of the wristwearable device 500, the AR device 600, and/or the HIPD 700 can track the user 402’s eyes for navigating a user interface.
  • the wrist-wearable device 500, the AR device 600, and/or the HIPD 700 can operate alone or in conjunction to allow the user 402 to interact with the AR environment.
  • the HIPD 700 is configured to operate as a central hub or control center for the wrist-wearable device 500, the AR device 600, and/or another communicatively coupled device.
  • the user 402 can provide an input to interact with the AR environment at any of the wrist-wearable device 500, the AR device 600, and/or the HIPD 700, and the HIPD 700 can identify one or more back-end and front-end tasks to cause the performance of the requested interaction and distribute instructions to cause the performance of the one or more back-end and front-end tasks at the wrist-wearable device 500, the AR device 600, and/or the HIPD 700.
  • a back-end task is a background-processing task that is not perceptible by the user (e.g., rendering content, decompression, or compression)
  • a front-end task is a user-facing task that is perceptible to the user (e.g., presenting information to the user or providing feedback to the user).
  • the HIPD 700 can perform the back-end tasks and provide the wristwearable device 500 and/or the AR device 600 operational data corresponding to the performed back-end tasks such that the wrist-wearable device 500 and/or the AR device 600 can perform the front-end tasks.
  • the HIPD 700 which has more computational resources and greater thermal headroom than the wrist-wearable device 500 and/or the AR device 600, performs computationally intensive tasks and reduces the computer resource utilization and/or power usage of the wrist-wearable device 500 and/or the AR device 600.
  • the HIPD 700 identifies one or more back-end tasks and front-end tasks associated with a user request to initiate an AR video call with one or more other users (represented by the avatar 404 and the digital representation of the contact 406) and distributes instructions to cause the performance of the one or more back-end tasks and front-end tasks.
  • the HIPD 700 performs back-end tasks for processing and/or rendering image data (and other data) associated with the AR video call and provides operational data associated with the performed back-end tasks to the AR device 600 such that the AR device 600 performs front-end tasks for presenting the AR video call (e.g., presenting the avatar 404 and the digital representation of the contact 406).
  • the HIPD 700 can operate as a focal or anchor point for causing the presentation of information. This allows the user 402 to be generally aware of where information is presented. For example, as shown in the first AR system 400a, the avatar 404 and the digital representation of the contact 406 are presented above the HIPD 700. In particular, the HIPD 700 and the AR device 600 operate in conjunction to determine a location for presenting the avatar 404 and the digital representation of the contact 406. In some examples, information can be presented within a predetermined distance from the HIPD 700 (e.g., within five meters). For example, as shown in the first AR system 400a, virtual object 408 is presented on the desk some distance from the HIPD 700.
  • the HIPD 700 and the AR device 600 can operate in conjunction to determine a location for presenting the virtual object 408.
  • presentation of information is not bound by the HIPD 700. More specifically, the avatar 404, the digital representation of the contact 406, and the virtual object 408 do not have to be presented within a predetermined distance of the HIPD 700.
  • User inputs provided at the wrist-wearable device 500, the AR device 600, and/or the HIPD 700 are coordinated such that the user can use any device to initiate, continue, and/or complete an operation.
  • the user 402 can provide a user input to the AR device 600 to cause the AR device 600 to present the virtual object 408 and, while the virtual object 408 is presented by the AR device 600, the user 402 can provide one or more hand gestures via the wrist-wearable device 500 to interact and/or manipulate the virtual object 408.
  • Figure 4B shows the user 402 wearing the wrist-wearable device 500 and the AR device 600, and holding the HIPD 700.
  • the wrist-wearable device 500, the AR device 600, and/or the HIPD 700 are used to receive and/or provide one or more messages to a contact of the user 402.
  • the wrist-wearable device 500, the AR device 600, and/or the HIPD 700 detect and coordinate one or more user inputs to initiate a messaging application and prepare a response to a received message via the messaging application.
  • the user 402 initiates, via a user input, an application on the wristwearable device 500, the AR device 600, and/or the HIPD 700 that causes the application to initiate on at least one device.
  • the user 402 performs a hand gesture associated with a command for initiating a messaging application (represented by messaging user interface 412), the wrist-wearable device 500 detects the hand gesture, and, based on a determination that the user 402 is wearing AR device 600, causes the AR device 600 to present a messaging user interface 412 of the messaging application.
  • the AR device 600 can present the messaging user interface 412 to the user 402 via its display (e.g., as shown by user 402’s field of view 410).
  • the application is initiated and can be run on the device (e.g., the wrist-wearable device 500, the AR device 600, and/or the HIPD 700) that detects the user input to initiate the application, and the device provides another device operational data to cause the presentation of the messaging application.
  • the wrist-wearable device 500 can detect the user input to initiate a messaging application, initiate and run the messaging application, and provide operational data to the AR device 600 and/or the HIPD 700 to cause presentation of the messaging application.
  • the application can be initiated and run at a device other than the device that detected the user input.
  • the wrist-wearable device 500 can detect the hand gesture associated with initiating the messaging application and cause the HIPD 700 to run the messaging application and coordinate the presentation of the messaging application.
  • the user 402 can provide a user input provided at the wrist-wearable device 500, the AR device 600, and/or the HIPD 700 to continue and/or complete an operation initiated at another device. For example, after initiating the messaging application via the wrist-wearable device 500 and while the AR device 600 presents the messaging user interface 412, the user 402 can provide an input at the HIPD 700 to prepare a response (e.g., shown by the swipe gesture performed on the HIPD 700).
  • the user 402’s gestures performed on the HIPD 700 can be provided and/or displayed on another device. For example, the user 402’s swipe gestures performed on the HIPD 700 are displayed on a virtual keyboard of the messaging user interface 412 displayed by the AR device 600.
  • the wrist-wearable device 500, the AR device 600, the HIPD 700, and/or other communicatively coupled devices can present one or more notifications to the user 402.
  • the notification can be an indication of a new message, an incoming call, an application update, a status update, etc.
  • the user 402 can select the notification via the wrist-wearable device 500, the AR device 600, or the HIPD 700 and cause presentation of an application or operation associated with the notification on at least one device.
  • the user 402 can receive a notification that a message was received at the wristwearable device 500, the AR device 600, the HIPD 700, and/or other communicatively coupled device and provide a user input at the wrist-wearable device 500, the AR device 600, and/or the HIPD 700 to review the notification, and the device detecting the user input can cause an application associated with the notification to be initiated and/or presented at the wrist-wearable device 500, the AR device 600, and/or the HIPD 700.
  • the AR device 600 can present to the user 402 game application data and the HIPD 700 can use a controller to provide inputs to the game.
  • the user 402 can use the wrist-wearable device 500 to initiate a camera of the AR device 600, and the user can use the wrist-wearable device 500, the AR device 600, and/or the HIPD 700 to manipulate the image capture (e.g., zoom in or out or apply filters) and capture image data.
  • FIG. 4C-1 and 4C-2 the user 402 is shown wearing the wrist-wearable device 500 and a VR device 610, and holding the HIPD 700.
  • the wrist-wearable device 500, the VR device 610, and/or the HIPD 700 are used to interact within an AR environment, such as a VR game or other AR application.
  • the VR device 610 presents a representation of a VR game (e.g, first AR game environment 420) to the user 402
  • the wrist-wearable device 500, the VR device 610, and/or the HIPD 700 detect and coordinate one or more user inputs to allow the user 402 to interact with the VR game.
  • the user 402 can provide a user input via the wrist-wearable device 500, the VR device 610, and/or the HIPD 700 that causes an action in a corresponding AR environment.
  • the user 402 in the third AR system 400c (shown in Figure 4C-1) raises the HIPD 700 to prepare for a swing in the first AR game environment 420.
  • the VR device 610 responsive to the user 402 raising the HIPD 700, causes the AR representation of the user 422 to perform a similar action (e.g., raise a virtual object, such as a virtual sword 424).
  • each device uses respective sensor data and/or image data to detect the user input and provide an accurate representation of the user 402’s motion.
  • imaging sensors 754 e.g., SLAM cameras or other cameras discussed below in Figures 7A and 7B
  • sensor data from the wrist-wearable device 500 can be used to detect a velocity at which the user 402 raises the HIPD 700 such that the AR representation of the user 422 and the virtual sword 424 are synchronized with the user 402’s movements
  • image sensors 626 Figures 6A-6C of the VR device 610 can be used to represent the user 402’s body, boundary conditions, or real-world objects within the first AR game environment 420.
  • the user 402 performs a downward swing while holding the HIPD 700.
  • the user 402’s downward swing is detected by the wrist-wearable device 500, the VR device 610, and/or the HIPD 700 and a corresponding action is performed in the first AR game environment 420.
  • the data captured by each device is used to improve the user’s experience within the AR environment.
  • sensor data of the wrist-wearable device 500 can be used to determine a speed and/or force at which the downward swing is performed and image sensors of the HIPD 700 and/or the VR device 610 can be used to determine a location of the swing and how it should be represented in the first AR game environment 420, which, in turn, can be used as inputs for the AR environment (e.g., game mechanics, which can use detected speed, force, locations, and/or aspects of the user 402’s actions to classify a user’s inputs (e.g., user performs a light strike, hard strike, critical strike, glancing strike, miss) or calculate an output (e.g., amount of damage)).
  • game mechanics which can use detected speed, force, locations, and/or aspects of the user 402’s actions to classify a user’s inputs (e.g., user performs a light strike, hard strike, critical strike, glancing strike, miss) or calculate an output (e.g., amount of damage)).
  • the wrist-wearable device 500, the VR device 610, and/or the HIPD 700 are described as detecting user inputs, In some examples, user inputs are detected at a single device (with the single device being responsible for distributing signals to the other devices for performing the user input).
  • the HIPD 700 can operate an application for generating the first AR game environment 420 and provide the VR device 610 with corresponding data for causing the presentation of the first AR game environment 420, as well as detect the 402’s movements (while holding the HIPD 700) to cause the performance of corresponding actions within the first AR game environment 420.
  • the user 402 performs a throwing motion while wearing the smart textile-based garment 800.
  • the user 402’s throwing motion is detected by the wristwearable device 500, the VR device 610, and/or the smart textile-based garments 800, and a corresponding action is performed in the second AR game environment 435.
  • the data captured by each device is used to improve the user’s experience within the AR environment.
  • the smart textile-based garments 800 can be used in conjunction with an AR device 610 and/or an HIPD 700.
  • example devices and systems including electronic devices and systems, will be discussed. Such example devices and systems are not intended to be limiting, and one of skill in the art will understand that alternative devices and systems to the example devices and systems described herein may be used to perform the operations and construct the systems and devices that are described herein.
  • an electronic device is a device that uses electrical energy to perform a specific function. It can be any physical object that contains electronic components such as transistors, resistors, capacitors, diodes, and integrated circuits. Examples of electronic devices include smartphones, laptops, digital cameras, televisions, gaming consoles, and music players, as well as the example electronic devices discussed herein.
  • an intermediary electronic device is a device that sits between two other electronic devices and/or a subset of components of one or more electronic devices, which facilitates communication, and/or data processing, and/or data transfer between the respective electronic devices and/or electronic components.
  • Figures 5A and 5B illustrate an example wrist-wearable device 500.
  • the wristwearable device 500 is an instance of the wrist-wearable device 110 described in reference to Figures 1-3 herein, such that the wrist-wearable device should be understood to have the features of the wrist-wearable device 500 and vice versa.
  • Figure 5A illustrates components of the wrist-wearable device 500, which can be used individually or in combination, including combinations that include other electronic devices and/or electronic components.
  • FIG. 5A shows a wearable band 510 and a watch body 520 (or capsule) being coupled, as discussed below, to form the wrist-wearable device 500.
  • the wrist-wearable device 500 can perform various functions and/or operations associated with navigating through user interfaces and selectively opening applications, as well as the functions and/or operations described above with reference to Figures 1-3.
  • operations executed by the wrist-wearable device 500 can include (i) presenting content to a user (e.g., displaying visual content via a display 505); (ii) detecting (e.g., sensing) user input (e.g., sensing a touch on peripheral button 523 and/or at a touch screen of the display 505, a hand gesture detected by sensors (e.g., biopotential sensors)); (iii) sensing biometric data via one or more sensors 513 (e.g., neuromuscular signals, heart rate, temperature, or sleep); messaging (e g., text, speech, or video); image capture via one or more imaging devices or cameras 525; wireless communications (e.g., cellular, near field, Wi-Fi, or personal area network); location determination; financial transactions; providing haptic feedback; alarms; notifications; biometric authentication; health monitoring; and/or sleep monitoring.
  • a user e.g., displaying visual content via a display 505
  • detecting e.g., sensing user
  • the wearable band 510 can be configured to be worn by a user such that an inner (or inside) surface of the wearable structure 511 of the wearable band 510 is in contact with the user’s skin.
  • sensors 513 contact the user’s skin.
  • the sensors 513 can sense biometric data such as a user’s heart rate, saturated oxygen level, temperature, sweat level, neuromuscular-signal sensors, or a combination thereof.
  • the sensors 513 can also sense data about a user’s environment, including a user’s motion, altitude, location, orientation, gait, acceleration, position, or a combination thereof.
  • the sensors 513 are configured to track a position and/or motion of the wearable band 510.
  • the one or more sensors 513 can include any of the sensors defined above and/or discussed below with respect to Figure 5B.
  • the one or more sensors 513 can be distributed on an inside and/or an outside surface of the wearable band 510. In some examples, the one or more sensors 513 are uniformly spaced along the wearable band 510. Alternatively, In some examples, the one or more sensors 513 are positioned at distinct points along the wearable band 510. As shown in Figure 5A, the one or more sensors 513 can be the same or distinct.
  • the one or more sensors 513 can be shaped as a pill (e.g., sensor 513a), an oval, a circle a square, an oblong (e.g., sensor 513c), and/or any other shape that maintains contact with the user’s skin (e.g., such that neuromuscular signal and/or other biometric data can be accurately measured at the user’s skin).
  • the one or more sensors 513 are aligned to form pairs of sensors (e.g., for sensing neuromuscular signals based on differential sensing within each respective sensor).
  • sensor 513b is aligned with an adjacent sensor to form sensor pair 514a
  • sensor 513d is aligned with an adjacent sensor to form sensor pair 514b.
  • the wearable band 510 does not have a sensor pair.
  • the wearable band 510 has a predetermined number of sensor pairs (one pair of sensors, three pairs of sensors, four pairs of sensors, six pairs of sensors, or sixteen pairs of sensors).
  • the wearable band 510 can include any suitable number of sensors 513.
  • the amount and arrangements of sensors 513 depend on the particular application for which the wearable band 510 is used.
  • a wearable band 510 configured as an armband, wristband, or chest-band may include a plurality of sensors 513 with a different number of sensors 513 and different arrangement for each use case, such as medical use cases, compared to gaming or general day-to-day use cases.
  • the wearable band 510 further includes an electrical ground electrode and a shielding electrode.
  • the electrical ground and shielding electrodes like the sensors 513, can be distributed on the inside surface of the wearable band 510 such that they contact a portion of the user’s skin.
  • the electrical ground and shielding electrodes can be at an inside surface of coupling mechanism 516 or an inside surface of a wearable structure 511 .
  • the electrical ground and shielding electrodes can be formed and/or use the same components as the sensors 513.
  • the wearable band 510 includes more than one electrical ground electrode and more than one shielding electrode.
  • the sensors 513 are coupled to an actuator (not shown) configured to adjust an extension height (e.g., a distance from the surface of the wearable structure 511) of the sensors 513 such that the sensors 513 make contact and depress into the user’s skin.
  • the actuators adjust the extension height between 0.01 mm to 1 .2 mm. This allows the user to customize the positioning of the sensors 513 to improve the overall comfort of the wearable band 510 when worn while still allowing the sensors 513 to contact the user’s skin.
  • the sensors 513 are indistinguishable from the wearable structure 511 when worn by the user.
  • the wearable structure 511 can be formed of an elastic material, elastomers, etc., configured to be stretched and fitted to be worn by the user.
  • the wearable structure 511 is a textile or woven fabric.
  • the sensors 513 can be formed as part of a wearable structure 511.
  • the sensors 513 can be molded into the wearable structure 511 or be integrated into a woven fabric (e.g., the sensors 513 can be sewn into the fabric and mimic the pliability of fabric (e.g., the sensors 513 can be constructed from a series of woven strands of fabric)).
  • the wearable structure 511 can include flexible electronic connectors that interconnect the sensors 513, the electronic circuitry, and/or other electronic components (described below in reference to Figure 5B) that are enclosed in the wearable band 510.
  • the flexible electronic connectors are configured to interconnect the sensors 513, the electronic circuitry, and/or other electronic components of the wearable band 510 with respective sensors and/or other electronic components of another electronic device (e.g., watch body 520).
  • the flexible electronic connectors are configured to move with the wearable structure 511 such that the user adjustment to the wearable structure 511 (e.g., resizing, pulling, or folding) does not stress or strain the electrical coupling of components of the wearable band 510.
  • the wearable band 510 is configured to be worn by a user.
  • the wearable band 510 can be shaped or otherwise manipulated to be worn by a user.
  • the wearable band 510 can be shaped to have a substantially circular shape such that it can be configured to be worn on the user’s lower arm or wrist.
  • the wearable band 510 can be shaped to be worn on another body part of the user, such as the user’s upper arm (e.g., around a bicep), forearm, chest, legs, etc.
  • the wearable band 510 can include a retaining mechanism 512 (e.g., a buckle or a hook and loop fastener) for securing the wearable band 510 to the user’s wrist or other body part. While the wearable band 510 is worn by the user, the sensors 513 sense data (referred to as sensor data) from the user’s skin. In particular, the sensors 513 of the wearable band 510 obtain (e.g., sense and record) neuromuscular signals.
  • a retaining mechanism 512 e.g., a buckle or a hook and loop fastener
  • the sensed data can be used to detect and/or determine the user’s intention to perform certain motor actions.
  • the sensors 513 sense and record neuromuscular signals from the user as the user performs muscular activations (e.g., movements or gestures).
  • the detected and/or determined motor action e.g., phalange (or digits) movements, wrist movements, hand movements, and/or other muscle intentions
  • control commands or control information instructions to perform certain commands after the data is sensed
  • the sensed neuromuscular signals can be used to control certain user interfaces displayed on the display 505 of the wrist-wearable device 500 and/or can be transmitted to a device responsible for rendering an AR environment (e.g., a head-mounted display) to perform an action in an associated AR environment, such as to control the motion of a virtual device displayed to the user.
  • the muscular activations performed by the user can include static gestures, such as placing the user’s hand palm down on a table; dynamic gestures, such as grasping a physical or virtual object; and covert gestures that are imperceptible to another person, such as slightly tensing a joint by co-contracting opposing muscles or using sub-muscular activations.
  • the muscular activations performed by the user can include symbolic gestures (e.g., gestures mapped to other gestures, interactions, or commands, for example, based on a gesture vocabulary that specifies the mapping of gestures to commands).
  • the sensor data sensed by the sensors 513 can be used to provide a user with an enhanced interaction with a physical object (e.g., devices communicatively coupled with the wearable band 510) and/or a virtual object in an AR application generated by an AR system (e.g., user interface objects presented on the display 505 or another computing device (e.g., a smartphone)).
  • a physical object e.g., devices communicatively coupled with the wearable band 510
  • a virtual object in an AR application generated by an AR system e.g., user interface objects presented on the display 505 or another computing device (e.g., a smartphone)
  • the wearable band 510 includes one or more haptic devices 546 (Figure 5B; e.g., a vibratory haptic actuator) that are configured to provide haptic feedback (e.g., a cutaneous and/or kinesthetic sensation) to the user’s skin.
  • the sensors 513 and/or the haptic devices 546 can be configured to operate in conjunction with multiple applications including, without limitation, health monitoring, social media, games, and AR (e.g., the applications associated with AR).
  • the wearable band 510 can also include a coupling mechanism 516 (e.g., a cradle or a shape of the coupling mechanism can correspond to the shape of the watch body 520 of the wrist-wearable device 500) for detachably coupling a capsule (e.g., a computing unit) or watch body 520 (via a coupling surface of the watch body 520) to the wearable band 510.
  • a coupling mechanism 516 e.g., a cradle or a shape of the coupling mechanism can correspond to the shape of the watch body 520 of the wrist-wearable device 500
  • a capsule e.g., a computing unit
  • watch body 520 via a coupling surface of the watch body 520
  • the coupling mechanism 516 can be configured to receive a coupling surface proximate to the bottom side of the watch body 520 (e.g., a side opposite to a front side of the watch body 520 where the display 505 is located), such that a user can push the watch body 520 downward into the coupling mechanism 516 to attach the watch body 520 to the coupling mechanism 516.
  • the coupling mechanism 516 can be configured to receive a top side of the watch body 520 (e.g., a side proximate to the front side of the watch body 520 where the display 505 is located) that is pushed upward into the cradle, as opposed to being pushed downward into the coupling mechanism 516.
  • the coupling mechanism 516 is an integrated component of the wearable band 510 such that the wearable band 510 and the coupling mechanism 516 are a single unitary structure.
  • the coupling mechanism 516 is a type of frame or shell that allows the watch body 520 coupling surface to be retained within or on the wearable band 510 coupling mechanism 516 (e.g., a cradle, a tracker band, a support base, or a clasp).
  • the coupling mechanism 516 can allow for the watch body 520 to be detachably coupled to the wearable band 510 through a friction fit, a magnetic coupling, a rotationbased connector, a shear-pin coupler, a retention spring, one or more magnets, a clip, a pin shaft, a hook-and-loop fastener, or a combination thereof.
  • a user can perform any type of motion to couple the watch body 520 to the wearable band 510 and to decouple the watch body 520 from the wearable band 510.
  • a user can detach the watch body 520 (or capsule) from the wearable band 510 in order to reduce the encumbrance of the wrist-wearable device 500 to the user.
  • the watch body 520 can be referred to as a removable structure, such that in these examples the wrist-wearable device 500 includes a wearable portion (e.g., the wearable band 510) and a removable structure (the watch body 520).
  • the watch body 520 can have a substantially rectangular or circular shape. The watch body 520 is configured to be worn by the user on their wrist or on another body part.
  • a user can actuate the release mechanism 529 by pushing, turning, lifting, depressing, shifting, or performing other actions on the release mechanism 529.
  • Actuation of the release mechanism 529 can release (e.g., decouple) the watch body 520 from the coupling mechanism 516 of the wearable band 510, allowing the user to use the watch body 520 independently from wearable band 510 and vice versa.
  • decoupling the watch body 520 from the wearable band 510 can allow the user to capture images using rear-facing camera 525b.
  • the coupling mechanism 516 is shown positioned at a corner of watch body 520, the release mechanism 529 can be positioned anywhere on watch body 520 that is convenient for the user to actuate.
  • the wearable band 510 can also include a respective release mechanism for decoupling the watch body 520 from the coupling mechanism 516.
  • the release mechanism 529 is optional and the watch body 520 can be decoupled from the coupling mechanism 516, as described above (e.g., via twisting or rotating).
  • the watch body 520 can include one or more peripheral buttons 523 and 527 for performing various operations at the watch body 520.
  • the peripheral buttons 523 and 527 can be used to turn on or wake (e.g., transition from a sleep state to an active state) the display 505, unlock the watch body 520, increase or decrease volume, increase or decrease brightness, interact with one or more applications, interact with one or more user interfaces.
  • the display 505 operates as a touch screen and allows the user to provide one or more inputs for interacting with the watch body 520.
  • the watch body 520 includes one or more sensors 521 .
  • the sensors 521 of the watch body 520 can be the same or distinct from the sensors 513 of the wearable band 510.
  • the sensors 521 of the watch body 520 can be distributed on an inside and/or an outside surface of the watch body 520.
  • the sensors 521 are configured to contact a user’s skin when the watch body 520 is worn by the user.
  • the sensors 521 can be placed on the bottom side of the watch body 520 and the coupling mechanism 516 can be a cradle with an opening that allows the bottom side of the watch body 520 to directly contact the user’s skin.
  • the watch body 520 and the wearable band 510 can share data using a wired communication method (e.g., a Universal Asynchronous Receiver/Transmitter (UART) or a USB transceiver) and/or a wireless communication method (e.g., near-field communication or Bluetooth).
  • a wired communication method e.g., a Universal Asynchronous Receiver/Transmitter (UART) or a USB transceiver
  • a wireless communication method e.g., near-field communication or Bluetooth
  • the watch body 520 and the wearable band 510 can share data sensed by the sensors 513 and 521, as well as application- and device-specific information (e.g., active and/or available applications), output devices (e.g., display or speakers), and/or input devices (e.g., touch screens, microphones, or imaging sensors).
  • application- and device-specific information e.g., active and/or available applications
  • output devices e.g., display or speakers
  • input devices e.
  • the watch body 520 can include, without limitation, a front-facing camera 525a and/or a rear-facing camera 525b, sensors 521 (e.g., a biometric sensor, an IMU sensor, a heart rate sensor, a saturated oxygen sensor, a neuromuscular-signal sensor, an altimeter sensor, a temperature sensor, a bioimpedance sensor, a pedometer sensor, an optical sensor (e.g., Figure 5B; imaging sensor 563), a touch sensor, a sweat sensor).
  • sensors 521 e.g., a biometric sensor, an IMU sensor, a heart rate sensor, a saturated oxygen sensor, a neuromuscular-signal sensor, an altimeter sensor, a temperature sensor, a bioimpedance sensor, a pedometer sensor, an optical sensor (e.g., Figure 5B; imaging sensor 563), a touch sensor, a sweat sensor).
  • sensors 521 e.g., a biometric sensor, an IMU sensor, a heart rate sensor
  • the watch body 520 can include one or more haptic devices 576 (Figure 5B; a vibratory haptic actuator) that is configured to provide haptic feedback (e.g., a cutaneous and/or kinesthetic sensation) to the user.
  • haptic feedback e.g., a cutaneous and/or kinesthetic sensation
  • the sensors 521 and/or the haptic device 576 can also be configured to operate in conjunction with multiple applications, including, without limitation, health-monitoring applications, social media applications, game applications, and AR applications (e.g., the applications associated with AR).
  • the watch body 520 and the wearable band 510 when coupled, can form the wrist-wearable device 500.
  • the watch body 520 and wearable band 510 operate as a single device to execute functions (e.g., operations, detections, or communications) described herein.
  • each device is provided with particular instructions for performing the one or more operations of the wrist-wearable device 500.
  • the wearable band 510 can include alternative instructions for performing associated instructions (e.g., providing sensed neuromuscular- signal data to the watch body 520 via a different electronic device).
  • Operations of the wristwearable device 500 can be performed by the watch body 520 alone or in conjunction with the wearable band 510 (e.g., via respective processors and/or hardware components) and vice versa.
  • operations of the wrist-wearable device 500, the watch body 520, and/or the wearable band 510 can be performed in conjunction with one or more processors and/or hardware components of another communicatively coupled device (e.g., Figures 7A-7B; the HIPD 700).
  • the wearable band 510 and/or the watch body 520 can each include independent resources required to independently execute functions.
  • the wearable band 510 and/or the watch body 520 can each include a power source (e.g., a battery), a memory, data storage, a processor (e.g., a CPU), communications, a light source, and/or input/output devices.
  • Figure 5B shows block diagrams of a computing system 530 corresponding to the wearable band 510 and a computing system 560 corresponding to the watch body 520.
  • a computing system of the wrist-wearable device 500 includes a combination of components of the wearable band computing system 530 and the watch body computing system 560.
  • the watch body 520 and/or the wearable band 510 can include one or more components shown in watch body computing system 560.
  • a single integrated circuit includes all or a substantial portion of the components of the watch body computing system 560 that are included in a single integrated circuit.
  • components of the watch body computing system 560 are included in a plurality of integrated circuits that are communicatively coupled.
  • the watch body computing system 560 is configured to couple (e.g., via a wired or wireless connection) with the wearable band computing system 530, which allows the computing systems to share components, distribute tasks, and/or perform other operations described herein (individually or as a single device).
  • the watch body computing system 560 can include one or more processors 579, a controller 577, a peripherals interface 561 , a power system 595, and memory (e.g., a memory 580), each of which are defined above and described in more detail below.
  • the power system 595 can include a charger input 596, a power-management integrated circuit (PMIC) 597, and a battery 598, each of which are defined above.
  • a watch body 520 and a wearable band 510 can have respective charger inputs (e.g., charger inputs 596 and 557), respective batteries (e.g., batteries 598 and 559), and can share power with each other (e.g., the watch body 520 can power and/or charge the wearable band 510 and vice versa).
  • watch body 520 and/or the wearable band 510 can include respective charger inputs, a single charger input can charge both devices when coupled.
  • the watch body 520 and the wearable band 510 can receive a charge using a variety of techniques.
  • the watch body 520 and the wearable band 510 can use a wired charging assembly (e.g., power cords) to receive the charge.
  • the watch body 520 and/or the wearable band 510 can be configured for wireless charging.
  • a portable charging device can be designed to mate with a portion of watch body 520 and/or wearable band 510 and wirelessly deliver usable power to a battery of watch body 520 and/or wearable band 510.
  • the watch body 520 and the wearable band 510 can have independent power systems (e.g., power system 595 and 556) to enable each to operate independently.
  • the watch body 520 and wearable band 510 can also share power (e.g., one can charge the other) via respective PMICs (e.g., PMICs 597 and 558) that can share power over power and ground conductors and/or over wireless charging antennas.
  • PMICs e.g., PMICs 597 and 558
  • the peripherals interface 561 can include one or more sensors 521 , many of which listed below are defined above.
  • the sensors 521 can include one or more coupling sensors 562 for detecting when the watch body 520 is coupled with another electronic device (e.g., a wearable band 510).
  • the sensors 521 can include imaging sensors 563 (one or more of the cameras 525 and/or separate imaging sensors 563 (e.g., thermal-imaging sensors)).
  • the sensors 521 include one or more SpO2 sensors 564.
  • the sensors 521 include one or more biopotential-signal sensors (e.g., EMG sensors 565, which may be disposed on a user-facing portion of the watch body 520 and/or the wearable band 510).
  • the sensors 521 include one or more capacitive sensors 566.
  • the sensors 521 include one or more heart rate sensors 567.
  • the sensors 521 include one or more IMUs 568.
  • one or more IMUs 568 can be configured to detect movement of a user’s hand or other location that the watch body 520 is placed or held.
  • the peripherals interface 561 includes an NFC component 569, a GPS component 570, a long-term evolution (LTE) component 571 , and/or a Wi-Fi and/or Bluetooth communication component 572.
  • the peripherals interface 561 includes one or more buttons 573 (e.g., the peripheral buttons 523 and 527 in Figure 5A), which, when selected by a user, cause operations to be performed at the watch body 520.
  • the peripherals interface 561 includes one or more indicators, such as a light-emitting diode (LED), to provide a user with visual indicators (e.g., message received, low battery, an active microphone, and/or a camera).
  • LED light-emitting diode
  • the watch body 520 can include at least one display 505 for displaying visual representations of information or data to the user, including user-interface elements and/or three-dimensional (3D) virtual objects.
  • the display can also include a touch screen for inputting user inputs, such as touch gestures, swipe gestures, and the like.
  • the watch body 520 can include at least one speaker 574 and at least one microphone 575 for providing audio signals to the user and receiving audio input from the user.
  • the user can provide user inputs through the microphone 575 and can also receive audio output from the speaker 574 as part of a haptic event provided by the haptic controller 578.
  • the watch body 520 can include at least one camera 525, including a front-facing camera 525a and a rear-facing camera 525b.
  • the cameras 525 can include ultra-wide-angle cameras, wide-angle cameras, fish-eye cameras, spherical cameras, telephoto cameras, depth-sensing cameras, or other types of cameras.
  • the watch body computing system 560 can include one or more haptic controllers 578 and associated componentry (e.g., haptic devices 576) for providing haptic events at the watch body 520 (e.g., a vibrating sensation or audio output in response to an event at the watch body 520).
  • the haptic controllers 578 can communicate with one or more haptic devices 576, such as electroacoustic devices, including a speaker of the one or more speakers 574 and/or other audio components and/or electromechanical devices that convert energy into linear motion such as a motor, solenoid, electroactive polymer, piezoelectric actuator, electrostatic actuator, or other tactile output generating component (e.g., a component that converts electrical signals into tactile outputs on the device).
  • haptic devices 576 such as electroacoustic devices, including a speaker of the one or more speakers 574 and/or other audio components and/or electromechanical devices that convert energy into linear motion such as a motor, solenoid, electroactive polymer, piez
  • the haptic controller 578 can provide haptic events to respective haptic actuators that are capable of being sensed by a user of the watch body 520.
  • the one or more haptic controllers 578 can receive input signals from an application of the applications 582.
  • the computer system 530 and/or the computer system 560 can include memory 580, which can be controlled by a memory controller of the one or more controllers 577 and/or one or more processors 579.
  • software components stored in the memory 580 include one or more applications 582 configured to perform operations at the watch body 520.
  • the one or more applications 582 include games, word processors, messaging applications, calling applications, web browsers, social media applications, media streaming applications, financial applications, calendars, clocks, etc.
  • software components stored in the memory 580 include one or more communication interface modules 583 as defined above.
  • software components stored in the memory 580 include one or more graphics modules 584 for rendering, encoding, and/or decoding audio and/or visual data; and one or more data management modules 585 for collecting, organizing, and/or providing access to the data 587 stored in memory 580.
  • software components stored in the memory 580 include a haptic signal (HS) processing module 586A and an impedance measurement (IM) processing module 586C, which are configured to perform the features described above in reference to Figures 1-3.
  • HS haptic signal
  • IM impedance measurement
  • one or more of applications 582 and/or one or more modules can work in conjunction with one another to perform various tasks at the watch body 520.
  • software components stored in the memory 580 can include one or more operating systems 581 (e.g., a Linux-based operating system, an Android operating system, etc.).
  • the memory 580 can also include data 587.
  • the data 587 can include profile data 588A, sensor data 589A, media content data 590, application data 591 , haptic signal data 592A, and impedance measurement (IM) data 592C, which stores data related to the performance of the features described above in reference to Figures 1-3.
  • IM impedance measurement
  • the watch body computing system 560 is an example of a computing system within the watch body 520, and that the watch body 520 can have more or fewer components than shown in the watch body computing system 560, combine two or more components, and/or have a different configuration and/or arrangement of the components.
  • the various components shown in watch body computing system 560 are implemented in hardware, software, firmware, or a combination thereof, including one or more signal processing and/or application-specific integrated circuits.
  • the wearable band computing system 530 can include more or fewer components than shown in the watch body computing system 560, combine two or more components, and/or have a different configuration and/or arrangement of some or all of the components. In some examples, all, or a substantial portion of the components of the wearable band computing system 530 are included in a single integrated circuit. Alternatively, In some examples, components of the wearable band computing system 530 are included in a plurality of integrated circuits that are communicatively coupled.
  • the wearable band computing system 530 is configured to couple (e.g., via a wired or wireless connection) with the watch body computing system 560, which allows the computing systems to share components, distribute tasks, and/or perform other operations described herein (individually or as a single device).
  • the wearable band computing system 530 can include one or more processors 549, one or more controllers 547 (including one or more haptics controller 548), a peripherals interface 531 that can include one or more sensors 513 and other peripheral devices, power source (e.g., a power system 556), and memory (e.g., a memory 550) that includes an operating system (e.g., an operating system 551), data (e.g., data 554 including profile data 588B, sensor data 589B, haptic signal data 592B, impedance measurement (IM) data 592D etc.), and one or more modules (e.g., a communications interface module 552, a data management module 553, a haptic signal (HS) processing module 586B, impedance measurement (IM) processing module 586D, etc.).
  • a communications interface module 552 e.g., a data management module 553, a haptic signal (HS) processing module 586B, impedance measurement (IM) processing module 586
  • the one or more sensors 513 can be analogous to sensors 521 of the computer system 560 in light of the definitions above.
  • sensors 513 can include one or more coupling sensors 532, one or more SpO2 sensors 534, one or more EMG sensors 535, one or more capacitive sensors 536, one or more heart rate sensors 537, and one or more IMU sensors 538.
  • the peripherals interface 531 can also include other components analogous to those included in the peripheral interface 561 of the computer system 560, including an NFC component 539, a GPS component 540, an LTE component 541 , a Wi-Fi and/or Bluetooth communication component 542, and/or one or more haptic devices 576 as described above in reference to peripherals interface 561.
  • the peripherals interface 531 includes one or more buttons 543, a display 533, a speaker 544, a microphone 545, and a camera 555.
  • the peripherals interface 531 includes one or more indicators, such as an LED.
  • the wearable band computing system 530 is an example of a computing system within the wearable band 510, and that the wearable band 510 can have more or fewer components than shown in the wearable band computing system 530, combine two or more components, and/or have a different configuration and/or arrangement of the components.
  • the various components shown in wearable band computing system 530 can be implemented in one or a combination of hardware, software, and firmware, including one or more signal processing and/or application-specific integrated circuits.
  • the wrist-wearable device 500 with respect to Figures 5A is an example of the wearable band 510 and the watch body 520 coupled, so the wrist-wearable device 500 will be understood to include the components shown and described for the wearable band computing system 530 and the watch body computing system 560.
  • wrist-wearable device 500 has a split architecture (e.g., a split mechanical architecture or a split electrical architecture) between the watch body 520 and the wearable band 510.
  • all of the components shown in the wearable band computing system 530 and the watch body computing system 560 can be housed or otherwise disposed in a combined watch device 500, or within individual components of the watch body 520, wearable band 510, and/or portions thereof (e.g., a coupling mechanism 516 of the wearable band 510).
  • the techniques described above can be used with any device for sensing neuromuscular signals, including the arm-wearable devices of Figure 5A-5B, but could also be used with other types of wearable devices for sensing neuromuscular signals (such as body-wearable or head-wearable devices that might have neuromuscular sensors closer to the brain or spinal column).
  • a wrist-wearable device 500 can be used in conjunction with a head-wearable device described below (e.g., AR device 600 and VR device 610) and/or an HIPD 700, and the wrist-wearable device 500 can also be configured to be used to allow a user to control aspect of the artificial reality (e.g., by using EMG-based gestures to control user interface objects in the artificial reality and/or by allowing a user to interact with the touchscreen on the wrist-wearable device to also control aspects of the artificial reality).
  • a wrist-wearable device 500 can also be used in conjunction with a wearable garment, such as smart textile-based garment 800 described below in reference to Figures 8A-8C. Having thus described example wrist-wearable device, attention will now be turned to example head-wearable devices, such AR device 600 and VR device 610.
  • Head-wearable devices can include, but are not limited to, AR devices 600 (e.g., AR or smart eyewear devices, such as smart glasses, smart monocles, smart contacts, etc.), VR devices 610 (e.g., VR headsets or head-mounted displays (HMDs)), or other ocularly coupled devices.
  • the AR devices 600 and the VR devices 610 are instances of the head-wearable device 112 (e.g., a pair of smart glasses, AR glasses, etc.) described in reference to Figures 1-3 herein, such that the headwearable device should be understood to have the features of the AR devices 600 and/or the VR devices 610 and vice versa.
  • the AR devices 600 and the VR devices 610 can perform various functions and/or operations associated with navigating through user interfaces and selectively opening applications, as well as the functions and/or operations described above with reference to Figures 1-3.
  • an AR system (e.g., Figures 4A-4D-2; AR systems 400a-400d) includes an AR device 600 (as shown in Figure 6A) and/or VR device 610 (as shown in Figures 6B-1-B-2).
  • the AR device 600 and the VR device 610 can include one or more analogous components (e.g., components for presenting interactive AR environments, such as processors, memory, and/or presentation devices, including one or more displays and/or one or more waveguides), some of which are described in more detail with respect to Figure 6C.
  • the head-wearable devices can use display projectors (e.g., display projector assemblies 607A and 607B) and/or waveguides for projecting representations of data to a user. Some examples of head-wearable devices do not include displays.
  • Figure 6A shows an example visual depiction of the AR device 600 (e.g., which may also be described herein as augmented-reality glasses and/or smart glasses).
  • the AR device 600 can work in conjunction with additional electronic components that are not shown in Figures 6A, such as a wearable accessory device and/or an intermediary processing device, in electronic communication or otherwise configured to be used in conjunction with the AR device 600.
  • the wearable accessory device and/or the intermediary processing device may be configured to couple with the AR device 600 via a coupling mechanism in electronic communication with a coupling sensor 624, where the coupling sensor 624 can detect when an electronic device becomes physically or electronically coupled with the AR device 600.
  • the AR device 600 can be configured to couple to a housing (e.g., a portion of frame 604 or temple arms 605), which may include one or more additional coupling mechanisms configured to couple with additional accessory devices.
  • a housing e.g., a portion of frame 604 or temple arms 605
  • additional coupling mechanisms configured to couple with additional accessory devices.
  • the components shown in Figure 6A can be implemented in hardware, software, firmware, or a combination thereof, including one or more signalprocessing components and/or application-specific integrated circuits (ASICs).
  • ASICs application-specific integrated circuits
  • the AR device 600 includes mechanical glasses components, including a frame 604 configured to hold one or more lenses (e.g., one or both lenses 606-1 and 606-2).
  • the AR device 600 can include additional mechanical components, such as hinges configured to allow portions of the frame 604 of the AR device 600 to be folded and unfolded, a bridge configured to span the gap between the lenses 606-1 and 606-2 and rest on the user’s nose, nose pads configured to rest on the bridge of the nose and provide support for the AR device 600, earpieces configured to rest on the user’s ears and provide additional support for the AR device 600, temple arms 605 configured to extend from the hinges to the earpieces of the AR device 600, and the like.
  • some examples of the AR device 600 can include none of the mechanical components described herein.
  • smart contact lenses configured to present AR to users may not include any components of the AR device 600.
  • the lenses 606-1 and 606-2 can be individual displays or display devices (e.g., a waveguide for projected representations).
  • the lenses 606-1 and 606-2 may act together or independently to present an image or series of images to a user.
  • the lenses 606-1 and 606-2 can operate in conjunction with one or more display projector assemblies 607A and 607B to present image data to a user.
  • the AR device 600 includes two displays, examples of this disclosure may be implemented in AR devices with a single near-eye display (NED) or more than two NEDs.
  • NED near-eye display
  • the AR device 600 includes electronic components, many of which will be described in more detail below with respect to Figure 6C. Some example electronic components are illustrated in Figure 6A, including sensors 623-1 , 623-2, 623-3, 623-4, 623-5, and 623-6, which can be distributed along a substantial portion of the frame 604 of the AR device 600. The different types of sensors are described below in reference to Figure 6C.
  • the AR device 600 also includes a left camera 639A and a right camera 639B, which are located on different sides of the frame 604.
  • the eyewear device includes one or more processors 648A and 648B (e.g., an integral microprocessor, such as an ASIC) that is embedded into a portion of the frame 604.
  • processors 648A and 648B e.g., an integral microprocessor, such as an ASIC
  • FIGS 6B-1 and 6B-2 show an example visual depiction of the VR device 610 (e.g., a head-mounted display (HMD) 612, also referred to herein as an AR headset, a headwearable device, or a VR headset).
  • the HMD 612 includes a front body 614 and a frame 616 (e.g., a strap or band) shaped to fit around a user’s head.
  • the front body 614 and/or the frame 616 includes one or more electronic elements for facilitating presentation of and/or interactions with an AR and/or VR system (e.g., displays, processors (e.g., processor 648A-1), IMUs, tracking emitters or detectors, or sensors).
  • the HMD 612 includes output audio transducers (e.g., an audio transducer 618- 1), as shown in Figure 6B-2.
  • one or more components such as the output audio transducer(s) 618 and the frame 616, can be configured to attach and detach (e.g., are detachably attachable) to the HMD 612 (e.g., a portion or all of the frame 616 and/or the output audio transducer 618), as shown in Figure 6B-2.
  • coupling a detachable component to the HMD 612 causes the detachable component to come into electronic communication with the HMD 612.
  • the VR device 610 includes electronic components, many of which will be described in more detail below with respect to Figure 6C.
  • FIGS 6B-1 and 6B-2 also show that the VR device 610 having one or more cameras, such as the left camera 639A and the right camera 639B, which can be analogous to the left and right cameras on the frame 604 of the AR device 600.
  • the VR device 610 includes one or more additional cameras (e.g., cameras 639C and 639D), which can be configured to augment image data obtained by the cameras 639A and 639B by providing more information.
  • the camera 639C can be used to supply color information that is not discerned by cameras 639A and 639B.
  • one or more of the cameras 639A to 639D can include an optional IR (infrared) cut filter configured to remove IR light from being received at the respective camera sensors.
  • the VR device 610 can include a housing 690 storing one or more components of the VR device 610 and/or additional components of the VR device 610.
  • the housing 690 can be a modular electronic device configured to couple with the VR device 610 (or an AR device 600) and supplement and/or extend the capabilities of the VR device 610 (or an AR device 600).
  • the housing 690 can include additional sensors, cameras, power sources, and processors (e.g., processor 648A-2). to improve and/or increase the functionality of the VR device 610. Examples of the different components included in the housing 690 are described below in reference to Figure 6C.
  • the head-wearable device such as the VR device 610 and/or the AR device 600, includes, or is communicatively coupled to, another external device (e.g., a paired device), such as an HIPD 7 (discussed below in reference to Figures 7A-7B) and/or an optional neckband.
  • a paired device such as an HIPD 7 (discussed below in reference to Figures 7A-7B) and/or an optional neckband.
  • the optional neckband can couple to the head-wearable device via one or more connectors (e.g., wired or wireless connectors).
  • the head-wearable device and the neckband can operate independently without any wired or wireless connection between them.
  • the components of the head-wearable device and the neckband are located on one or more additional peripheral devices paired with the head-wearable device, the neckband, or some combination thereof.
  • the neckband is intended to represent any suitable type or form of paired device.
  • the following discussion of neckbands may also apply to various other paired devices, such as smartwatches, smartphones, wrist bands, other wearable devices, hand-held controllers, tablet computers, or laptop computers.
  • pairing external devices such as an intermediary processing device (e.g., an HIPD device 700, an optional neckband, and/or a wearable accessory device) with the head-wearable devices (e.g., an AR device 600 and/or a VR device 610) enables the head-wearable devices to achieve a similar form factor of a pair of glasses while still providing sufficient battery and computational power for expanded capabilities.
  • Some, or all, of the battery power, computational resources, and/or additional features of the headwearable devices can be provided by a paired device or shared between a paired device and the head-wearable devices, thus reducing the weight, heat profile, and form factor of the head-wearable device overall while allowing the head-wearable device to retain its desired functionality.
  • the intermediary processing device e.g., the HIPD 700
  • the intermediary processing device can allow components that would otherwise be included in a head-wearable device to be included in the intermediary processing device (and/or a wearable device or accessory device), thereby shifting a weight load from the user’s head and neck to one or more other portions of the user’s body.
  • the intermediary processing device has a larger surface area over which to diffuse and disperse heat to the ambient environment.
  • the intermediary processing device can allow for greater battery and computational capacity than might otherwise have been possible on the head-wearable devices, standing alone.
  • the intermediary processing device is communicatively coupled with the head-wearable device and/or to other devices.
  • the other devices may provide certain functions (e.g., tracking, localizing, depth mapping, processing, and/or storage) to the head-wearable device.
  • the intermediary processing device includes a controller and a power source.
  • sensors of the intermediary processing device are configured to sense additional data that can be shared with the head-wearable devices in an electronic format (analog or digital).
  • the controller of the intermediary processing device processes information generated by the sensors on the intermediary processing device and/or the head-wearable devices.
  • the intermediary processing device such as an HIPD 700
  • a head-wearable device can include an IMU
  • the intermediary processing device a neckband and/or an HIPD 700
  • Additional examples of processing performed by a communicatively coupled device, such as the HIPD 700 are provided below in reference to Figures 7A and 7B.
  • AR systems may include a variety of types of visual feedback mechanisms.
  • display devices in the AR devices 600 and/or the VR devices 610 may include one or more liquid-crystal displays (LCDs), light emitting diode (LED) displays, organic LED (OLED) displays, and/or any other suitable type of display screen.
  • LCDs liquid-crystal displays
  • LED light emitting diode
  • OLED organic LED
  • AR systems may include a single display screen for both eyes or may provide a display screen for each eye, which may allow for additional flexibility for varifocal adjustments or for correcting a refractive error associated with the user’s vision.
  • Some AR systems also include optical subsystems having one or more lenses (e.g., conventional concave or convex lenses, Fresnel lenses, or adjustable liquid lenses) through which a user may view a display screen.
  • lenses e.g., conventional concave or convex lenses, Fresnel lenses, or adjustable liquid lenses
  • some AR systems include one or more projection systems.
  • display devices in the AR device 600 and/or the VR device 610 may include micro-LED projectors that project light (e.g., using a waveguide) into display devices, such as clear combiner lenses that allow ambient light to pass through.
  • the display devices may refract the projected light toward a user’s pupil and may enable a user to simultaneously view both AR content and the real world.
  • AR systems may also be configured with any other suitable type or form of image projection system.
  • some AR systems may, instead of blending an artificial reality with actual reality, substantially replace one or more of a user’s sensory perceptions of the real world with a virtual experience.
  • the example head-wearable devices are respectively described herein as the AR device 600 and the VR device 610, either or both of the example head-wearable devices described herein can be configured to present fully immersive VR scenes presented in substantially all of a user’s field of view, additionally or alternatively to, subtler augmented- reality scenes that are presented within a portion, less than all, of the user’s field of view.
  • the AR device 600 and/or the VR device 610 can include haptic feedback systems.
  • the haptic feedback systems may provide various types of cutaneous feedback, including vibration, force, traction, shear, texture, and/or temperature.
  • the haptic feedback systems may also provide various types of kinesthetic feedback, such as motion and compliance.
  • the haptic feedback can be implemented using motors, piezoelectric actuators, fluidic systems, and/or a variety of other types of feedback mechanisms.
  • the haptic feedback systems may be implemented independently of other AR devices, within other AR devices, and/or in conjunction with other AR devices (e.g., wrist-wearable devices that may be incorporated into headwear, gloves, body suits, handheld controllers, environmental devices (e.g., chairs or floormats), and/or any other type of device or system, such as a wrist-wearable device 500, an HIPD 700, smart textile-based garment 800), and/or other devices described herein.
  • AR devices e.g., wrist-wearable devices that may be incorporated into headwear, gloves, body suits, handheld controllers, environmental devices (e.g., chairs or floormats), and/or any other type of device or system, such as a wrist-wearable device 500, an HIPD 700, smart textile-based garment 800), and/or other devices described herein.
  • Figure 6C illustrates a computing system 620 and an optional housing 690, each of which shows components that can be included in a head-wearable device (e.g., the AR device 600 and/or the VR device 610).
  • a head-wearable device e.g., the AR device 600 and/or the VR device 610.
  • more or fewer components can be included in the optional housing 690 depending on practical restraints of the respective head-wearable device being described.
  • the optional housing 690 can include additional components to expand and/or augment the functionality of a head-wearable device.
  • the computing system 620 and/or the optional housing 690 can include one or more peripheral interfaces 622A and 622B, one or more power systems 642A and 642B (including charger input 643, PMIC 644, and battery 645), one or more controllers 646A and 646B (including one or more haptic controllers 647), one or more processors 648A and 648B (as defined above, including any of the examples provided), and memory 650A and 650B, which can all be in electronic communication with each other.
  • peripheral interfaces 622A and 622B can include one or more peripheral interfaces 622A and 622B, one or more power systems 642A and 642B (including charger input 643, PMIC 644, and battery 645), one or more controllers 646A and 646B (including one or more haptic controllers 647), one or more processors 648A and 648B (as defined above, including any of the examples provided), and memory 650A and 650B, which can all be in electronic communication with each other.
  • the one or more processors 648A and/or 648B can be configured to execute instructions stored in the memory 650A and/or 650B, which can cause a controller of the one or more controllers 646A and/or 646B to cause operations to be performed at one or more peripheral devices of the peripherals interfaces 622A and/or 622B.
  • each operation described can occur based on electrical power provided by the power system 642A and/or 642B.
  • the peripherals interface 622A can include one or more devices configured to be part of the computing system 620, many of which have been defined above and/or described with respect to wrist-wearable devices shown in Figures 5A and 5B.
  • the peripherals interface can include one or more sensors 623A.
  • Some example sensors include one or more coupling sensors 624, one or more acoustic sensors 625, one or more imaging sensors 626, one or more EMG sensors 627, one or more capacitive sensors 628, and/or one or more IMUs 629.
  • the sensors 623A further include depth sensors 667, light sensors 668, and/or any other types of sensors defined above or described with respect to any other examples discussed herein.
  • the peripherals interface can include one or more additional peripheral devices, including one or more NFC devices 630, one or more GPS devices 631 , one or more LTE devices 632, one or more Wi-Fi and/or Bluetooth devices 633, one or more buttons 634 (e.g., including buttons that are slidable or otherwise adjustable), one or more displays 635A, one or more speakers 636A, one or more microphones 637A, one or more cameras 638A (e.g., including the first camera 639-1 through nth camera 639-n, which are analogous to the left camera 639A and/or the right camera 639B), one or more haptic devices 640, and/or any other types of peripheral devices defined above or described with respect to any other examples discussed herein.
  • additional peripheral devices including one or more NFC devices 630, one or more GPS devices 631 , one or more LTE devices 632, one or more Wi-Fi and/or Bluetooth devices 633, one or more buttons 634 (e.g., including buttons that are slid
  • the head-wearable devices can include a variety of types of visual feedback mechanisms (e.g., presentation devices).
  • display devices in the AR device 600 and/or the VR device 610 can include one or more liquid-crystal displays (LCDs), light emitting diode (LED) displays, organic LED (OLED) displays, micro-LEDs, and/or any other suitable types of display screens.
  • the head-wearable devices can include a single display screen (e.g., configured to be seen by both eyes) and/or can provide separate display screens for each eye, which can allow for additional flexibility for varifocal adjustments and/or for correcting a refractive error associated with the user’s vision.
  • the head-wearable devices also include optical subsystems having one or more lenses (e.g., conventional concave or convex lenses, Fresnel lenses, or adjustable liquid lenses) through which a user can view a display screen.
  • respective displays 635A can be coupled to each of the lenses 606-1 and 606-2 of the AR device 600.
  • the displays 635A coupled to each of the lenses 606-1 and 606-2 can act together or independently to present an image or series of images to a user.
  • the AR device 600 and/or the VR device 610 includes a single display 635A (e.g., a near-eye display) or more than two displays 635A.
  • a first set of one or more displays 635A can be used to present an augmented-reality environment
  • a second set of one or more display devices 635A can be used to present a VR environment.
  • one or more waveguides are used in conjunction with presenting AR content to the user of the AR device 600 and/or the VR device 610 (e.g., as a means of delivering light from a display projector assembly and/or one or more displays 635A to the user’s eyes).
  • one or more waveguides are fully or partially integrated into the AR device 600 and/or the VR device 610.
  • some AR systems include one or more projection systems.
  • display devices in the AR device 600 and/or the VR device 610 can include micro-LED projectors that project light (e.g., using a waveguide) into display devices, such as clear combiner lenses that allow ambient light to pass through.
  • the display devices can refract the projected light toward a user’s pupil and can enable a user to simultaneously view both AR content and the real world.
  • the head-wearable devices can also be configured with any other suitable type or form of image projection system.
  • one or more waveguides are provided, additionally or alternatively, to the one or more display(s) 635A.
  • ambient light and/or a real-world live view can be passed through a display element of a respective head-wearable device presenting aspects of the AR system.
  • ambient light and/or the real-world live view can be passed through a portion, less than all, of an AR environment presented within a user’s field of view (e.g., a portion of the AR environment co-located with a physical object in the user’s real-world environment that is within a designated boundary (e.g., a guardian boundary) configured to be used by the user while they are interacting with the AR environment).
  • a designated boundary e.g., a guardian boundary
  • a visual user interface element e.g., a notification user interface element
  • an amount of ambient light and/or the real-world live view e.g., 15%-50% of the ambient light and/or the real-world live view
  • an amount of ambient light and/or the real-world live view e.g., 15%-50% of the ambient light and/or the real-world live view
  • the head-wearable devices can include one or more external displays 635A for presenting information to users.
  • an external display 635A can be used to show a current battery level, network activity (e.g, connected, disconnected), current activity (e.g., playing a game, in a call, in a meeting, or watching a movie), and/or other relevant information.
  • the external displays 635A can be used to communicate with others.
  • a user of the head-wearable device can cause the external displays 635A to present a “do not disturb” notification.
  • the external displays 635A can also be used by the user to share any information captured by the one or more components of the peripherals interface 622A and/or generated by the head-wearable device (e.g., during operation and/or performance of one or more applications).
  • the memory 650A can include instructions and/or data executable by one or more processors 648A (and/or processors 648B of the housing 690) and/or a memory controller of the one or more controllers 646A (and/or controller 646B of the housing 690).
  • the memory 650A can include one or more operating systems 651 , one or more applications 652, one or more communication interface modules 653A, one or more graphics modules 654A, one or more AR processing modules 655A, haptic signal (HS) processing module 656A configured to process and determine which waveform the two or more actuators are actuating at or determine a new wave form to actuate the two or more actuators at, and/or any other types of modules or components defined above or described with respect to any other examples discussed herein.
  • the memory 650A further includes an impedance measurement (IM) processing module 656C configured to process the impedance measurements measured at the portion of the user’s body the wearable device is worn, at the actuators 204 and 306, and additional components of the actuator assemblies 200 and 300.
  • IM impedance measurement
  • the data 660 stored in memory 650A can be used in conjunction with one or more of the applications and/or programs discussed above.
  • the data 660 can include profile data 661 , sensor data 662, media content data 663, AR application data 664, haptic signal (HS) data 665, impedance measurement (IM) data 665A for storing data related to the performance of the features described above in reference to Figures 1-3; and/or any other types of data defined above or described with respect to any other examples discussed herein.
  • the controller 646A of the head-wearable devices processes information generated by the sensors 623A on the head-wearable devices and/or another component of the head-wearable devices and/or communicatively coupled with the headwearable devices (e.g., components of the housing 690, such as components of peripherals interface 622B).
  • the controller 646A can process information from the acoustic sensors 625 and/or image sensors 626.
  • the controller 646A can perform a direction of arrival (DOA) estimation to estimate a direction from which the detected sound arrived at a head-wearable device.
  • DOA direction of arrival
  • the controller 646A can populate an audio data set with the information (e.g., represented by sensor data 662).
  • a physical electronic connector can convey information between the head-wearable devices and another electronic device, and/or between one or more processors 648A of the head-wearable devices and the controller 646A.
  • the information can be in the form of optical data, electrical data, wireless data, or any other transmittable data form. Moving the processing of information generated by the head-wearable devices to an intermediary processing device can reduce weight and heat in the eyewear device, making it more comfortable and safer for a user.
  • an optional accessory device e.g., an electronic neckband or an HIPD 700
  • the connectors can be wired or wireless connectors and can include electrical and/or non-electrical (e.g., structural) components.
  • the head-wearable devices and the accessory device can operate independently without any wired or wireless connection between them.
  • the head-wearable devices can include various types of computer vision components and subsystems.
  • the AR device 600 and/or the VR device 610 can include one or more optical sensors such as two-dimensional (2D) or three-dimensional (3D) cameras, ToF depth sensors, single-beam or sweeping laser rangefinders, 3D LiDAR sensors, and/or any other suitable type or form of optical sensor.
  • a head-wearable device can process data from one or more of these sensors to identify a location of a user and/or aspects of the user’s real-world physical surroundings, including the locations of real-world objects within the real-world physical surroundings.
  • the methods described herein are used to map the real world, to provide a user with context about real- world surroundings, and/or to generate interactable virtual objects (which can be replicas or digital twins of real-world objects that can be interacted with an AR environment), among a variety of other functions.
  • Figures 6B-1 and 6B-2 show the VR device 610 having cameras 639A-639D, which can be used to provide depth information for creating a voxel field and a 2D mesh to provide object information to the user to avoid collisions.
  • the optional housing 690 can include analogous components to those describe above with respect to the computing system 620.
  • the optional housing 690 can include a respective peripherals interface 622B, including more or fewer components to those described above with respect to the peripherals interface 622A.
  • the components of the optional housing 690 can be used to augment and/or expand on the functionality of the head-wearable devices.
  • the optional housing 690 can include respective sensors 623B, speakers 636B, displays 635B, microphones 637B, cameras 638B, and/or other components to capture and/or present data.
  • the optional housing 690 can include one or more processors 648B, controllers 646B, and/or memory 650B (including respective communication interface modules 653B, one or more graphics modules 654B, one or more AR processing modules 655B) that can be used individually and/or in conjunction with the components of the computing system 620.
  • the techniques described above in Figures 6A-6C can be used with different headwearable devices.
  • the head-wearable devices e.g., the AR device 600 and/or the VR device 610
  • the head-wearable devices can be used in conjunction with one or more wearable devices such as a wrist-wearable device 500 (or components thereof) and/or a smart textile-based garment 800 ( Figures 8A-8C), as well as an HIPD 700.
  • a wearable device 500 or components thereof
  • a smart textile-based garment 800 Figures 8A-8C
  • FIGS 7A and 7B illustrate an example handheld intermediary processing device (HIPD) 700.
  • the HIPD 700 is an instance of the intermediary device such as a wireless controller described in reference to Figure 1 B herein, such that the HIPD 700 should be understood to have the features described with respect to any intermediary device defined above or otherwise described herein, and vice versa.
  • the HIPD 700 can perform various functions and/or operations associated with navigating through user interfaces and selectively opening applications, as well as the functions and/or operations described above with reference to Figures 1-3.
  • Figure 7A shows a top view 705 and a side view 725 of the HIPD 700.
  • the HIPD 700 is configured to communicatively couple with one or more wearable devices (or other electronic devices) associated with a user.
  • the HIPD 700 is configured to communicatively couple with a user’s wrist-wearable device 500 (or components thereof, such as the watch body 520 and the wearable band 510), AR device 600, and/or VR device 610.
  • the HIPD 700 can be configured to be held by a user (e.g., as a handheld controller), carried on the user’s person (e.g., in their pocket or in their bag), placed in proximity of the user (e.g., placed on their desk while seated at their desk or on a charging dock), and/or placed at or within a predetermined distance from a wearable device or other electronic device (e.g., where, In some examples, the predetermined distance is the maximum distance (e.g., 10 meters) at which the HIPD 700 can successfully be communicatively coupled with an electronic device, such as a wearable device).
  • a user e.g., as a handheld controller
  • carried on the user’s person e.g., in their pocket or in their bag
  • placed in proximity of the user e.g., placed on their desk while seated at their desk or on a charging dock
  • the predetermined distance is the maximum distance (e.g., 10 meters) at which the HIPD 700 can successfully be commun
  • the HIPD 700 can perform various functions independently and/or in conjunction with one or more wearable devices (e.g., wrist-wearable device 500, AR device 600, and/or VR device 610).
  • the HIPD 700 is configured to increase and/or improve the functionality of communicatively coupled devices, such as the wearable devices.
  • the HIPD 700 is configured to perform one or more functions or operations associated with interacting with user interfaces and applications of communicatively coupled devices, interacting with an AR environment, interacting with a VR environment, and/or operating as a human-machine interface controller, as well as functions and/or operations described above with reference to Figures 1-3.
  • functionality and/or operations of the HIPD 700 can include, without limitation, task offloading and/or handoffs, thermals offloading and/or handoffs, 6 degrees of freedom (6DoF) raycasting and/or gaming (e.g., using imaging devices or cameras 714A and 714B, which can be used for simultaneous localization and mapping (SLAM), and/or with other image processing techniques), portable charging; messaging, image capturing via one or more imaging devices or cameras (e.g., cameras 722A and 722B), sensing user input (e.g., sensing a touch on a multitouch input surface 702), wireless communications and/or interlining (e.g., cellular, near field, Wi-Fi, or personal area network), location determination, financial transactions, providing haptic feedback, alarms, notifications, biometric authentication, health monitoring, sleep monitoring.
  • 6DoF 6 degrees of freedom
  • raycasting and/or gaming e.g., using imaging devices or cameras 714A and 714B, which can be used for simultaneous local
  • the above-example functions can be executed independently in the HIPD 700 and/or in communication between the HIPD 700 and another wearable device described herein. In some examples, functions can be executed on the HIPD 700 in conjunction with an AR environment. As the skilled artisan will appreciate upon reading the descriptions provided herein, the novel HIPD 700 described herein can be used with any type of suitable AR environment.
  • the HIPD 700 While the HIPD 700 is communicatively coupled with a wearable device and/or other electronic device, the HIPD 700 is configured to perform one or more operations initiated at the wearable device and/or the other electronic device. In particular, one or more operations of the wearable device and/or the other electronic device can be offloaded to the HIPD 700 to be performed. The HIPD 700 performs one or more operations of the wearable device and/or the other electronic device and provides data corresponding to the completed operations to the wearable device and/or the other electronic device.
  • a user can initiate a video stream using the AR device 600 and back-end tasks associated with performing the video stream (e.g., video rendering) can be offloaded to the HIPD 700, which the HIPD 700 performs and provides corresponding data to the AR device 600 to perform remaining front-end tasks associated with the video stream (e.g., presenting the rendered video data via a display of the AR device 600).
  • back-end tasks associated with performing the video stream e.g., video rendering
  • the HIPD 700 which has more computational resources and greater thermal headroom than a wearable device can perform computationally intensive tasks for the wearable device, improving performance of an operation performed by the wearable device.
  • the HIPD 700 includes a multi-touch input surface 702 on a first side (e.g., a front surface) that is configured to detect one or more user inputs.
  • the multi-touch input surface 702 can detect single-tap inputs, multi-tap inputs, swipe gestures and/or inputs, force-based and/or pressure-based touch inputs, held taps, and the like.
  • the multi-touch input surface 702 is configured to detect capacitive touch inputs and/or force (and/or pressure) touch inputs.
  • the multi-touch input surface 702 includes a first touch-input surface 704 defined by a surface depression, and a second touch-input surface 706 defined by a substantially planar portion.
  • the first touch-input surface 704 can be disposed adjacent to the second touch-input surface 706.
  • the first touch-input surface 704 and the second touch-input surface 706 can be different dimensions, shapes, and/or cover different portions of the multi-touch input surface 702.
  • the first touch-input surface 704 can be substantially circular and the second touch-input surface 706 is substantially rectangular.
  • the surface depression of the multi-touch input surface 702 is configured to guide user handling of the HIPD 700.
  • the surface depression is configured such that the user holds the HIPD 700 upright when held in a single hand (e.g., such that the using imaging devices or cameras 714A and 714B are pointed toward a ceiling or the sky).
  • the surface depression is configured such that the user’s thumb rests within the first touch-input surface 704.
  • the different touch-input surfaces include a plurality of touch-input zones.
  • the second touch-input surface 706 includes at least a first touch-input zone 708 within a second touch-input zone 706 and a third touch-input zone 710 within the first touch-input zone 708.
  • one or more of the touch-input zones are optional and/or user defined (e.g., a user can specific a touch-input zone based on their preferences).
  • each touch-input surface and/or touch-input zone is associated with a predetermined set of commands.
  • a user input detected within the first touch-input zone 708 causes the HIPD 700 to perform a first command and a user input detected within the second touch-input zone 706 causes the HIPD 700 to perform a second command, distinct from the first.
  • different touch-input surfaces and/or touch-input zones are configured to detect one or more types of user inputs.
  • the different touch-input surfaces and/or touch-input zones can be configured to detect the same or distinct types of user inputs.
  • the first touch-input zone 708 can be configured to detect force touch inputs (e.g., a magnitude at which the user presses down) and capacitive touch inputs
  • the second touch-input zone 706 can be configured to detect capacitive touch inputs.
  • the HIPD 700 includes one or more sensors 751 for sensing data used in the performance of one or more operations and/or functions.
  • the HIPD 700 can include an IMU that is used in conjunction with cameras 714 for 3-dimensional object manipulation (e.g., enlarging, moving, destroying, etc. an object) in an AR or R environment.
  • the sensors 751 included in the HIPD 700 include a light sensor, a magnetometer, a depth sensor, a pressure sensor, and a force sensor. Additional examples of the sensors 751 are provided below in reference to Figure 7B.
  • the HIPD 700 can include one or more light indicators 712 to provide one or more notifications to the user.
  • the light indicators are LEDs or other types of illumination devices.
  • the light indicators 712 can operate as a privacy light to notify the user and/or others near the user that an imaging device and/or microphone are active.
  • a light indicator is positioned adjacent to one or more touch-input surfaces.
  • a light indicator can be positioned around the first touch-input surface 704.
  • the light indicators can be illuminated in different colors and/or patterns to provide the user with one or more notifications and/or information about the device.
  • a light indicator positioned around the first touch-input surface 704 can flash when the user receives a notification (e.g., a message), change red when the HIPD 700 is out of power, operate as a progress bar (e.g., a light ring that is closed when a task is completed (e.g., 0% to 100%)), operates as a volume indicator, etc.).
  • a notification e.g., a message
  • change red when the HIPD 700 is out of power
  • operate as a progress bar e.g., a light ring that is closed when a task is completed (e.g., 0% to 100%)
  • operates as a volume indicator etc.
  • the HIPD 700 includes one or more additional sensors on another surface.
  • HIPD 700 includes a set of one or more sensors (e.g., sensor set 720) on an edge of the HIPD 700.
  • the sensor set 720 when positioned on an edge of the of the HIPD 700, can be pe positioned at a predetermined tilt angle (e.g., 26 degrees), which allows the sensor set 720 to be angled toward the user when placed on a desk or other flat surface.
  • the sensor set 720 is positioned on a surface opposite the multi-touch input surface 702 (e.g., a back surface). The one or more sensors of the sensor set 720 are discussed in detail below.
  • the side view 725 of the of the HIPD 700 shows the sensor set 720 and camera 714B.
  • the sensor set 720 includes one or more cameras 722A and 722B, a depth projector 724, an ambient light sensor 728, and a depth receiver 730.
  • the sensor set 720 includes a light indicator 726.
  • the light indicator 726 can operate as a privacy indicator to let the user and/or those around them know that a camera and/or microphone is active.
  • the sensor set 720 is configured to capture a user’s facial expression such that the user can puppet a custom avatar (e.g., showing emotions, such as smiles, laughter, etc., on the avatar or a digital representation of the user).
  • the sensor set 720 can be configured as a side stereo red-green-blue (RGB) system, a rear indirect time-of-flight (iToF) system, or a rear stereo RGB system.
  • RGB red-green-blue
  • iToF rear indirect time-of-flight
  • RGB rear stereo RGB
  • the HIPD 700 includes one or more haptic devices 771 (Figure 7B; e.g., a vibratory haptic actuator) that are configured to provide haptic feedback (e.g., kinesthetic sensation).
  • the sensors 751 , and/or the haptic devices 771 can be configured to operate in conjunction with multiple applications and/or communicatively coupled devices including, without limitation, a wearable devices, health monitoring applications, social media applications, game applications, and artificial reality applications (e.g., the applications associated with artificial reality).
  • the HIPD 700 is configured to operate without a display.
  • the HIPD 700 can include a display 768 ( Figure 7B).
  • the HIPD 700 can also income one or more optional peripheral buttons 767 ( Figure 7B).
  • the peripheral buttons 767 can be used to turn on or turn off the HIPD 700.
  • the HIPD 700 housing can be formed of polymers and/or elastomer elastomers.
  • the HIPD 700 can be configured to have a non-slip surface to allow the HIPD 700 to be placed on a surface without requiring a user to watch over the HIPD 700. In other words, the HIPD 700 is designed such that it would not easily slide off a surfaces.
  • the HIPD 700 include one or magnets to couple the HIPD 700 to another surface. This allows the user to mount the HIPD 700 to different surfaces and provide the user with greater flexibility in use of the HIPD 700.
  • the HIPD 700 can distribute and/or provide instructions for performing the one or more tasks at the HIPD 700 and/or a communicatively coupled device.
  • the HIPD 700 can identify one or more back-end tasks to be performed by the HIPD 700 and one or more front-end tasks to be performed by a communicatively coupled device. While the HIPD 700 is configured to offload and/or handoff tasks of a communicatively coupled device, the HIPD 700 can perform both back-end and front-end tasks (e.g., via one or more processors, such as CPU 777; Figure 7B).
  • the HIPD 700 can, without limitation, can be used to perform augmenting calling (e.g., receiving and/or sending 3D or 2.5D live volumetric calls, live digital human representation calls, and/or avatar calls), discreet messaging, 6DoF portrait/landscape gaming, AR/VR object manipulation, AR/VR content display (e.g., presenting content via a virtual display), and/or other AR/VR interactions.
  • augmenting calling e.g., receiving and/or sending 3D or 2.5D live volumetric calls, live digital human representation calls, and/or avatar calls
  • discreet messaging e.g., 6DoF portrait/landscape gaming, AR/VR object manipulation, AR/VR content display (e.g., presenting content via a virtual display), and/or other AR/VR interactions.
  • the HIPD 700 can perform the above operations alone or in conjunction with a wearable device (or other communicatively coupled electronic device).
  • FIG. 7B shows block diagrams of a computing system 740 of the HIPD 700.
  • the HIPD 700 described in detail above, can include one or more components shown in HIPD computing system 740.
  • the HIPD 700 will be understood to include the components shown and described below for the HIPD computing system 740.
  • all, or a substantial portion of the components of the HIPD computing system 740 are included in a single integrated circuit.
  • components of the HIPD computing system 740 are included in a plurality of integrated circuits that are communicatively coupled.
  • the HIPD computing system 740 can include a processor (e.g., a CPU 777, a GPU, and/or a CPU with integrated graphics), a controller 775, a peripherals interface 750 that includes one or more sensors 751 and other peripheral devices, a power source (e.g., a power system 795), and memory (e.g., a memory 778) that includes an operating system (e.g., an operating system 779), data (e.g., data 788), one or more applications (e.g., applications 780), and one or more modules (e.g., a communications interface module 781 , a graphics module 782, a task and processing management module 783, an interoperability module 784, an AR processing module 785, a data management module 786, a haptic signal (HS) processing module 787A, impedance measurement (IM) processing module 787B, etc.).
  • the HIPD computing system 740 further includes a power system 795 that includes a charger
  • the peripherals interface 750 can include one or more sensors 751.
  • the sensors 751 can include analogous sensors to those described above in reference to Figures 5B.
  • the sensors 751 can include imaging sensors 754, (optional) EMG sensors 756, IMUs 758, and capacitive sensors 760.
  • the sensors 751 can include one or more pressure sensor 752 for sensing pressure data, an altimeter 753 for sensing an altitude of the HIPD 700, a magnetometer 755 for sensing a magnetic field, a depth sensor 757 (or a time-of flight sensor) for determining a difference between the camera and the subject of an image, a position sensor 759 (e.g., a flexible position sensor) for sensing a relative displacement or position change of a portion of the HIPD 700, a force sensor 761 for sensing a force applied to a portion of the HIPD 700, and a light sensor 762 (e.g., an ambient light sensor) for detecting an amount of lighting.
  • the sensors 751 can include one or more sensors not shown in Figure 7B.
  • the peripherals interface 750 can also include an NFC component 763, a GPS component 764, an LTE component 765, a Wi-Fi and/or Bluetooth communication component 766, a speaker 769, a haptic device 771 , and a microphone 773.
  • the HIPD 700 can optionally include a display 768 and/or one or more buttons 767.
  • the peripherals interface 750 can further include one or more cameras 770, touch surfaces 772, and/or one or more light emitters 774.
  • the multi-touch input surface 702 described above in reference to Figure 7A is an example of touch surface 772.
  • the light emitters 774 can be one or more LEDs, lasers, etc. and can be used to project or present information to a user.
  • the light emitters 774 can include light indicators 712 and 726 described above in reference to Figure 7A.
  • the cameras 770 e.g., cameras 714A, 714B, and 722A/722B described above in Figure 7A
  • Cameras 770 can be used for SLAM; 6 DoF ray casting, gaming, object manipulation, and/or other rendering; facial recognition and facial expression recognition, etc.
  • the HIPD computing system 740 can include one or more haptic controllers 776 and associated componentry (e.g., haptic devices 771) for providing haptic events at the HIPD 700.
  • haptic controllers 776 and associated componentry e.g., haptic devices 771
  • Memory 778 can include high-speed random-access memory and/or non-volatile memory, such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid-state memory devices. Access to the memory 778 by other components of the HIPD 700, such as the one or more processors and the peripherals interface 750, can be controlled by a memory controller of the controllers 775.
  • software components stored in the memory 778 include one or more operating systems 779, one or more applications 780, one or more communication interface modules 781 , one or more graphics modules 782, one or more data management modules 785, which are analogous to the software components described above in reference to Figure 5B.
  • the software components stored in the memory 778 can also include a HS processing module 786A and IM processing module 787B which are configured to perform the features described above in reference to Figures 1-3.
  • software components stored in the memory 778 include a task and processing management module 783 for identifying one or more front-end and back-end tasks associated with an operation performed by the user, performing one or more front-end and/or back-end tasks, and/or providing instructions to one or more communicatively coupled devices that cause performance of the one or more front-end and/or back-end tasks.
  • the task and processing management module 783 uses data 788 (e.g., device data 790) to distribute the one or more front-end and/or back-end tasks based on communicatively coupled devices’ computing resources, available power, thermal headroom, ongoing operations, and/or other factors.
  • the task and processing management module 783 can cause the performance of one or more back-end tasks (of an operation performed at communicatively coupled AR device 600) at the HIPD 700 in accordance with a determination that the operation is utilizing a predetermined amount (e.g., at least 70%) of computing resources available at the AR device 600.
  • a predetermined amount e.g., at least 70%
  • software components stored in the memory 778 include an interoperability module 784 for exchanging and utilizing information received and/or provided to distinct communicatively coupled devices.
  • the interoperability module 784 allows for different systems, devices, and/or applications to connect and communicate in a coordinated way without user input.
  • software components stored in the memory 778 include an AR module 785 that is configured to process signals based at least on sensor data for use in an AR and/or VR environment.
  • the AR processing module 785 can be used for 3D object manipulation, gesture recognition, facial and facial expression, recognition, etc.
  • the memory 778 can also include data 788, including structured data.
  • the data 788 can include profile data 789, device data 789 (including device data of one or more devices communicatively coupled with the HIPD 700, such as device type, hardware, software, configurations, etc.), sensor data 791 , media content data 792, application data 793, and haptic signal data 794A, impedance measurement (IM) data 794B, which stores data related to the performance of the features described above in reference to Figures 1-3.
  • IM impedance measurement
  • the HIPD computing system 740 is an example of a computing system within the HIPD 700, and that the HIPD 700 can have more or fewer components than shown in the HIPD computing system 740, combine two or more components, and/or have a different configuration and/or arrangement of the components.
  • the various components shown in HIPD computing system 740 are implemented in hardware, software, firmware, or a combination thereof, including one or more signal processing and/or application-specific integrated circuits.
  • an HIPD 700 can be used in conjunction with one or more wearable device such as a head-wearable device (e.g., AR device 600 and VR device 610) and/or a wrist-wearable device 500 (or components thereof).
  • an HIPD 700 can also be used in conjunction with a wearable garment, such as smart textile-based garment 800 ( Figures 8A-8C). Having thus described example HIPD 700, attention will now be turned to example feedback devices, such as smart textile- based garment 800.
  • FIGS 8A and 8B illustrate an example smart textile-based garment.
  • the smart textile-based garment 800 e.g., wearable gloves, a shirt, a headband, a wristband, socks, etc.
  • the smart textile-based garment 800 is configured to communicatively couple with one or more electronic devices, such as a wrist-wearable device 500, a head-wearable device, an HIPD 700, a laptop, tablet, and/or other computing devices.
  • the smart textile-based garment 800 is an instance of the smart textile-based garment such as a wearable glove described in reference to Figures 1-3 herein, such that the smart textile-based garment 800 should be understood to have the features described with respect to any smart textile-based garment defined above or otherwise described herein, and vice versa.
  • the smart textile-based garment 800 can perform various functions and/or operations associated with navigating through user interfaces and selectively opening applications, as well as the functions and/or operations described above with reference to Figures 1-3.
  • the smart textile-based garment 800 can be part of an AR system, such as AR system 400d described above in reference to Figures 4D-1 and 4D-2.
  • the smart textilebased garment 800 is also configured to provide feedback (e.g., tactile or other haptic feedback) to a user based on the user’s interactions with a computing system (e.g., navigation of a user interface, operation of an application (e.g., game vibrations, media responsive haptics), device notifications, etc.)), and/or the user’s interactions within an AR environment.
  • feedback e.g., tactile or other haptic feedback
  • the smart textile-based garment 800 receives instructions from a communicatively coupled device (e.g., the wrist-wearable device 500, a headwearable device, and HIPD 700, etc.) for causing the performance of a feedback response.
  • a communicatively coupled device e.g., the wrist-wearable device 500, a headwearable device, and HIPD 700, etc.
  • the smart textile-based garment 800 determines one or more feedback responses to provide a user.
  • the smart textile-based garment 800 can determine the one or more feedback responses based on sensor data captured by one or more of its sensors (e.g., sensors 851 ; Figure 8C) or communicatively coupled sensors (e.g., sensors of a wrist-wearable device 500, a head-wearable device, an HIPD 700, and/or other computing device).
  • Non-limiting examples of the feedback determined by the smart textile-based garment 800 and/or a communicatively coupled device include visual feedback, audio feedback, haptic (e.g., tactile, kinesthetic, etc.) feedback, thermal or temperature feedback, and/or other sensory perceptible feedback.
  • the smart textile-based garment 800 can include respective feedback devices (e.g., a haptic device or assembly 862 or other feedback devices or assemblies) to provide the feedback responses to the user.
  • the smart textile-based garment 800 can communicatively couple with another device (and/or the other device’s feedback devices) to coordinate the feedback provided to the user.
  • a VR device 610 can present an AR environment to a user and as the user interacts with objects within the AR environment, such as a virtual cup, the smart textile- based garment 800 provides respective response to the user.
  • the smart textile-based garment 800 can provide haptic feedback to prevent (or, at a minimum, hinder/resist movement of) one or more of the user’s fingers from bending past a certain point to simulate the sensation of touching a solid cup and/or thermal feedback to simulate the sensation of a cold or warm beverage.
  • the smart textile-based garment 800 is configured to operate as a controller configured to perform one or more functions or operations associated with interacting with user interfaces and applications of communicatively coupled devices, interacting with an AR environment, interacting with VR environment, and/or operating as a human-machine interface controller, as well as functions and/or operations described above with reference to Figures 1-3.
  • Figure 8A shows one or more haptic assemblies 862 (e.g., first through fourth haptic assemblies 862-1 through 862-4) on a portion of the smart textile-based garment 800 adjacent to a palmar side of the user’s hand and Figure 8B shows additional haptic assemblies (e.g., a fifth haptic assembly 862-5) on a portion of the smart textile-based garment 800 adjacent to a dorsal side of the user’s hand.
  • haptic assemblies 862 e.g., first through fourth haptic assemblies 862-1 through 862-4
  • additional haptic assemblies e.g., a fifth haptic assembly 862-5
  • the haptic assemblies 862 include a mechanism that, at a minimum, provide resistance when a respective haptic assembly 862 is transitioned from a first state (e.g., a first pressurized state (e.g., at atmospheric pressure or deflated)) to a second state (e.g., a second pressurized state (e.g., inflated to a threshold pressure)).
  • a first state e.g., a first pressurized state (e.g., at atmospheric pressure or deflated)
  • a second pressurized state e.g., inflated to a threshold pressure
  • Structures of haptic assemblies 862 can be integrated into various devices configured to be in contact or proximity to a user’s skin, including, but not limited to devices such as glove worn devices, body worn clothing device, headset devices.
  • Each of the haptic assemblies 862 can be included in or physically coupled to a garment component 804 of the smart textile-based garment 800.
  • each of the haptic assemblies 862-1 , 862-2, 862-3, ... 862-N are physically coupled to the garment 804 are configured to contact respective phalanges of a user’s thumb and fingers.
  • the haptic assemblies 862 may be required to transition between the multiple states hundreds, or perhaps thousands of times, during a single use.
  • the haptic assemblies 862 described herein are durable and designed to quickly transition from state to state.
  • the haptic assemblies 862 do not impede free movement of a portion of the wearer’s body.
  • one or more haptic assemblies 862 incorporated into a glove are made from flexible materials that do not impede free movement of the wearer’s hand and fingers (e.g., an electrostatic-zipping actuator).
  • the haptic assemblies 862 are configured to conform to a shape of the portion of the wearer’s body when in the first pressurized state. However, once in a second pressurized state, the haptic assemblies 862 can be configured to restrict and/or impede free movement of the portion of the wearer’s body (e.g., appendages of the user’s hand). For example, the respective haptic assembly 862 (or multiple respective haptic assemblies) can restrict movement of a wearer’s finger (e.g., prevent the finger from curling or extending) when the haptic assembly 862 is in the second pressurized state.
  • the smart textile-based garment 800 can be one of a plurality of devices in an AR system (e.g., AR systems of Figures 4A-4D-2).
  • a user can wear a pair of gloves (e.g., a first type of smart textile-based garment 800), wear a haptics component of a wrist-wearable device 500 ( Figures 5A-5B), wear a headband (e.g., a second type of smart textile-based garment 800), hold an HIPD 700, etc.
  • the haptic assemblies 862 are configured to provide haptic simulations to a wearer of the smart textilebased garments 800.
  • each smart textile-based garment 800 can be one of various articles of clothing (e.g., gloves, socks, shirts, pants, etc ). Thus, a user may wear multiple smart textile-based garments 800 that are each configured to provide haptic stimulations to respective parts of the body where the smart textile-based garments 800 are being worn. Although the smart textile-based garment 800 are described as an individual device, In some examples, the smart textile-based garment 800 can be combined with other wearable devices described herein. For example, the smart textile-based garment 800 can form part of a VR device 610 (e.g., a headband portion).
  • a VR device 610 e.g., a headband portion
  • FIG. 8C shows block diagrams of a computing system 840 of the haptic assemblies 862.
  • the computing system 840 can include one or more peripheral interfaces 850, one or more power systems 895 (including charger input 896, PMIC 897, and battery 898), one or more controllers 875 (including one or more haptic controllers 876), one or more processors 877 (as defined above, including any of the examples provided), and memory 878, which can all be in electronic communication with each other.
  • the one or more processors 877 can be configured to execute instructions stored in the memory 878, which can cause a controller of the one or more controllers 875 to cause operations to be performed at one or more peripheral devices of the peripherals interface 850. In some examples, each operation described can occur based on electrical power provided by the power system 895.
  • the peripherals interface 850 can include one or more devices configured to be part of the computing system 840, many of which have been defined above and/or described with respect to wrist-wearable devices shown in Figures 5A-7B.
  • the peripherals interface 850 can include one or more sensors 851 , such as one or more pressure sensors 852, one or more EMG sensors 856, one or more IMUs 858, one or more position sensors 859, one or more capacitive sensors 860, one or more force sensors 861 ; and/or any other types of sensors defined above or described with respect to any other examples discussed herein.
  • the peripherals interface can include one or more additional peripheral devices, including one or more Wi-Fi and/or Bluetooth devices 868, an LTE component 869, a GPS component 870, a microphone 871 , one or more haptic assemblies 862, one or more support structures 863 which can include one or more bladders 864, one or more manifolds 865, one or more pressure-changing devices 867, one or more displays 872, one or more buttons 873, one or more speakers 874, and/or any other types of peripheral devices defined above or described with respect to any other examples discussed herein.
  • computing system 840 includes more or fewer components than those shown in Figure 8C.
  • each haptic assembly 862 includes a support structure 863 and at least one bladder 864.
  • the bladder 864 e.g., a membrane
  • the bladder 864 contains a medium (e.g., a fluid such as air, inert gas, or even a liquid) that can be added to or removed from the bladder 864 to change pressure (e.g., fluid pressure) inside the bladder 864.
  • the support structure 863 is made from a material that is stronger and stiffer than the material of the bladder 864.
  • a respective support structure 863 coupled to a respective bladder 864 is configured to reinforce the respective bladder 864 as the respective bladder changes shape and size due to changes in pressure (e.g., fluid pressure) inside the bladder.
  • the above example haptic assembly 862 is non-limiting.
  • the haptic assembly 862 can include eccentric rotating mass (ERM), linear resonant actuators (LRA), voice coil motor (VCM), piezo haptic actuator, thermoelectric devices, solenoid actuators, ultrasonic transducers, thermo-resistive heaters, Peltier devices, and/or other devices configured to generate a perceptible response.
  • the smart textile-based garment 800 also includes a haptic controller 876 and a pressure-changing device 867.
  • the computing system 840 is communicatively coupled with a haptic controller 876 and/or pressure-changing device 867 (e.g., in electronic communication with one or more processors 877 of the computing system 840).
  • the haptic controller 876 is configured to control operation of the pressurechanging device 867, and in turn operation of the smart textile-based garments 800.
  • the haptic controller 876 sends one or more signals to the pressure-changing device 867 to activate the pressure-changing device 867 (e.g., turn it on and off).
  • the one or more signals can specify a desired pressure (e.g., pounds per square inch) to be output by the pressure-changing device 867.
  • Generation of the one or more signals, and in turn the pressure output by the pressure-changing device 867, can be based on information collected by sensors 851 of the smart textile-based garment 800 and/or other communicatively coupled device.
  • the haptic controller 876 can provide one or more signals, based on collected sensor data, to cause the pressure-changing device 867 to increase the pressure (e.g., fluid pressure) inside a first haptic assembly 862 at a first time, and provide one or more additional signals, based on additional sensor data, to the pressure-changing device 867, to cause the pressure-changing device 867 to further increase the pressure inside a second haptic assembly 862 at a second time after the first time.
  • the pressure-changing device 867 to increase the pressure (e.g., fluid pressure) inside a first haptic assembly 862 at a first time
  • additional signals based on additional sensor data
  • the haptic controller 876 can provide one or more signals to cause the pressure-changing device 867 to inflate one or more bladders 864 in a first portion of a smart textile-based garment 800 (e.g., a first finger), while one or more bladders 864 in a second portion of the smart textilebased garment 800 (e.g., a second finger) remain unchanged. Additionally, the haptic controller 876 can provide one or more signals to cause the pressure-changing device 867 to inflate one or more bladders 864 in a first smart textile-based garment 800 to a first pressure and inflate one or more other bladders 864 in the first smart textile-based garment 800 to a second pressure different from the first pressure. Depending on the number of smart textile-based garments 800 serviced by the pressure-changing device 867, and the number of bladders therein, many different inflation configurations can be achieved through the one or more signals, and the examples above are not meant to be limiting.
  • the smart textile-based garment 800 may include an optional manifold 865 between the pressure-changing device 867, the haptic assemblies 862, and/or other portions of the smart textile-based garment 800.
  • the manifold 865 may include one or more valves (not shown) that pneumatically couple each of the haptic assemblies 862 with the pressurechanging device 867 via tubing.
  • the manifold 865 is in communication with the controller 875, and the controller 875 controls the one or more valves of the manifold 865 (e.g., the controller generates one or more control signals).
  • the manifold 865 is configured to switchably couple the pressure-changing device 867 with one or more haptic assemblies 862 of the smart textile-based garment 800.
  • one or more smart textile-based garments 800 or other haptic devices can be coupled in a network of haptic devices, and the manifold 865 can distribute the fluid between the coupled smart textile-based garments 800.
  • the smart textile-based garment 800 may include multiple pressure-changing devices 867, where each pressurechanging device 867 is pneumatically coupled directly with a single (or multiple) haptic assembly 862.
  • the pressure-changing device 867 and the optional manifold 865 can be configured as part of one or more of the smart textile-based garments 800 (not illustrated) while, in other examples, the pressure-changing device 867 and the optional manifold 865 can be configured as external to the smart textile-based garments 800.
  • a single pressure-changing device 867 can be shared by multiple smart textile-based garments 800 or other haptic devices.
  • the memory 878 includes instructions and data, some or all of which may be stored as non-transitory computer-readable storage media within the memory 878.
  • the memory 878 can include one or more operating systems 879, one or more communication interface applications 881 , one or more interoperability modules 884, one or more AR processing applications 885, one or more data-management modules 886, haptic signal (HS) processing module 887A for determining, generating, and proving waveforms for causing the performance of a haptic response, and/or impedance measurement (IM) processing module 887B for determining, generating, and providing impedance measurements, and/or any other types of data defined above or described with respect to Figures 5A-7B.
  • HS haptic signal
  • IM impedance measurement
  • the different components of the computing system 840 (and the smart textile-based garment 800) shown in Figures 8A-8C can be coupled via a wired connection (e.g., via busing).
  • a wired connection e.g., via busing
  • one or more of the devices shown in Figures 8A-8C may be wirelessly connected (e.g., via short-range communication signals).
  • Figure 9 illustrates a flow diagram of the examples A1-C1.
  • Operations (e.g., steps) of the method 900 can be performed by one or more processors (e.g., central processing unit and/or MCU) of a wearable device.
  • processors e.g., central processing unit and/or MCU
  • At least some of the operations shown in Figure 9 correspond to instructions stored in a computer memory or computer-readable storage medium (e.g., storage, RAM, and/or memory) of a wearable device.
  • Operations of the method 900 can be performed by a single device alone or in conjunction with one or more processors and/or hardware components of another communicatively coupled device (e.g., head-wearable device, wrist-wearable device, HIPD, wearable glove, etc.) and/or instructions stored in memory or computer-readable medium of the other device communicatively coupled to the wearable device.
  • another communicatively coupled device e.g., head-wearable device, wrist-wearable device, HIPD, wearable glove, etc.
  • the various operations of the methods described herein are interchangeable and/or optional, and respective operations of the methods are performed by any of the aforementioned devices, systems, or combination of devices and/or systems.
  • the method operations will be described below as being performed by particular component or device, but should not be construed as limiting the performance of the operation to the particular device in all examples.
  • the method 900 includes receiving (902) an indication from a communicatively coupled device.
  • an indication can include any notification, call, text message, etc.
  • the method 900 further includes simultaneously actuating (904) the at least two actuators using a predetermined haptic signal, such that respective haptic responses generated by the at least two actuators are superimposed to generate a combined haptic response having a magnitude greater than the respective haptic responses generated by the at least two actuators.
  • a predetermined haptic signal such that respective haptic responses generated by the at least two actuators are superimposed to generate a combined haptic response having a magnitude greater than the respective haptic responses generated by the at least two actuators.
  • the method 900 further includes receiving (906) an impedance measurement between the contact surface and the user’s skin at the portion of the user’s body. For example, as discussed above with respect to Figure 2, matching the impedance by tuning the skin allows a greater transfer of energy and limiting the reflection to provide a stronger perceivable haptic feedback response to the user.
  • the method 900 further includes actuating (908), based off the impedance measurement, the actuator of the at least two actuators using a second predetermined haptic signal.
  • actuating (908), based off the impedance measurement, the actuator of the at least two actuators using a second predetermined haptic signal For example, as described in Figure 3, the second predetermined haptic signal is stronger than the first predetermined haptic signal.
  • any data collection performed by the devices described herein and/or any devices configured to perform or cause the performance of the different examples described above in reference to any of the Figures, hereinafter the “devices,” is done with user consent and in a manner that is consistent with all applicable privacy laws. Users are given options to allow the devices to collect data, as well as the option to limit or deny collection of data by the devices. A user is able to opt in or opt out of any data collection at any time. Further, users are given the option to request the removal of any collected data.
  • the phrase “if it is determined [that a stated condition precedent is true]” or “if [a stated condition precedent is true]” or “when [a stated condition precedent is true]” can be construed to mean “upon determining” or “in response to determining” or “in accordance with a determination” or “upon detecting” or “in response to detecting” that the stated condition precedent is true, depending on the context.

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Abstract

L'invention concerne un dispositif conçu pour assurer une rétroaction haptique. Dans un exemple, au moins deux actionneurs, à des emplacements spatiaux distincts, sont couplés à une structure pouvant être portée conçue pour être portée sur une partie du corps d'un utilisateur. Le dispositif est conçu pour, en réponse à la réception d'une indication provenant d'un dispositif couplé en communication, actionner simultanément les au moins deux actionneurs à l'aide d'un premier signal haptique prédéterminé, de telle sorte que des réponses haptiques respectives générées par les au moins deux actionneurs sont superposées pour générer une réponse haptique combinée ayant une amplitude supérieure aux réponses haptiques respectives générées par les au moins deux actionneurs.
PCT/US2024/052958 2023-10-27 2024-10-25 Systèmes et procédés de production de réponses haptiques perçues plus fortes Pending WO2025090865A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US202363593953P 2023-10-27 2023-10-27
US63/593,953 2023-10-27
US202463624698P 2024-01-24 2024-01-24
US63/624,698 2024-01-24
US18/915,280 US20250138641A1 (en) 2023-10-27 2024-10-14 Systems and methods for producing stronger perceived haptic responses
US18/915,280 2024-10-14

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WO2025090865A1 true WO2025090865A1 (fr) 2025-05-01

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